Image stabilization apparatus and image pickup apparatus

ABSTRACT

An image stabilization apparatus has an angular velocity detector detecting an angular velocity applied thereto and outputting the angular velocity, an acceleration detector detecting an acceleration applied to the image stabilization apparatus and outputting the acceleration, a principal point calculation unit calculating a principal point position of a shooting optical system, an rotation angular velocity calculation unit calculating a rotation angular velocity component about the principal point of the shooting optical system based on an output of the angular velocity detector, a revolution angular velocity calculation unit calculating a revolution angular velocity component about an object based on the output of the acceleration detector and a calculation result of the rotation angular velocity calculation unit and correcting the calculated revolution angular velocity component according to the principal point position, and a controlling unit performing image stabilization control based on a difference between the rotation and corrected revolution angular velocity components.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an image stabilization apparatus which prevents deterioration of a shot image by correcting an image blur due to shake, and an image pickup apparatus including the image stabilization apparatus.

2. Description of the Related Art

FIG. 18 is a view showing an outline of an image stabilization apparatus included in the conventional camera. A shake which occurs to the camera has six degrees of freedom in total, which are rotational movements of three degrees of freedom constituted of pitching, yawing and rolling movement, and translation movements of three degrees of freedom constituted of movements in an X-axis, a Y-axis and a Z-axis directions. The image stabilization apparatuses which are commercialized at present usually corrects the image blur due to the rotational movements of two degrees of freedom constituted of pitching and yawing movements which significantly influence image stabilization.

Movement of camera is monitored by an angular velocity sensor 130. As the angular velocity sensor, a piezoelectric vibration angular velocity sensor that detects a Coriolis force which is caused by rotation is generally used. The angular velocity sensor 130 contains three detectors which perform detection of pitching movement that is the rotation around the Z-axis in FIG. 18, detection of yawing movement that is the rotation around the Y-axis in FIG. 18, and detection of rolling movement that is the rotation around the X-axis (optical axis) in FIG. 18.

When images blur due to shake is to be corrected, output of the angular velocity sensor 130 is sent to a lens CPU 106, and a target drive position of a correcting lens 101 for image stabilization is calculated. In order to drive the correcting lens 101 to the target drive position, instruction signals are sent to voltage drivers 161 x and 161 y, and the voltage drivers 161 x and 161 y follow the instruction signal to drive lens drivers 120 x and 120 y. The position of the correcting lens 101 is monitored by lens position detectors 110 x and 110 y, and is fed back to the lens CPU 106. The lens CPU 106 performs positional control of the correcting lens 101 based on the target drive position and the position of the correcting lens 101. By driving the correcting lens according to the shake like this, the image blur caused by shake can be corrected.

However, in the aforementioned image stabilization apparatus, detection of movement of camera due to shake is performed by only the angular velocity sensor 130, and therefore, the angular movement (rotational movement) can be monitored, but movement which causes the optical axis to move parallel vertically or laterally (hereinafter, referred to as parallel movement) cannot be monitored. Accordingly, image stabilization can be performed only for the movements of the two degrees of freedom constituted of pitching and yawing movements.

Here, about the image blur caused by parallel movement, the case of performing shooting by using a micro lens with a focal length of 100 mm will be described as an example. When a landscape at infinity distance is shot by using this lens, if the angular velocity sensor output substantially 0.8 deg/s, the image plane moving velocity is about 1.40 mm/s (=100×sin 0.8) from the focal length. Therefore, the width of the movement of the image plane due to angular movement when shooting with an exposure time of 1/15 second becomes 93 μm (=1.40 mm/15). Further, if the entire camera is moved parallelly in the vertical direction at 1.0 mm/s in addition to the angular movement, shooting is not influenced by the parallel movement velocity component, and an image blur due to parallel movement does not occur, since in the case of infinity shooting, the shooting magnification β is substantially zero.

However, when close-up shooting is performed for shooting a flower or the like, the shooting magnification is very large, and the influence of parallel movement cannot be ignored. For example, when the shooting magnification is equal-magnification (β=1), and the moving velocity in the vertical direction is 1 mm/s, the image on the image plane moves also a moving velocity of 1 mm/s. The movement width in the image plane at the time of performing shooting with an exposure time of 1/15 second becomes 67 μm, and the image blur due to parallel movement cannot be ignored.

Next, a general method (model and mathematical expression) which expresses the movement of an object in a space in a field of physics or engineering will be described. Here, about the model expressing movement of the object on a plane, an ordinary object will be described for facilitating the description. In this case, if the three degrees of freedom of the object are defined, the movement and the position of the object can be uniquely defined.

The first one is the model expressing a translation movement and a rotational movement (see FIGS. 19A and 19B). In a fixed coordinate system O-XY in a plane with the axis of abscissa set as an X-axis and the orthogonal axis set as a Y-axis, the position of the object can be determined if defining the three degrees of freedom: a position X(t) in the X-axis direction; a position Y(t) in the Y-axis direction; and the rotational angle θ(t) of the object itself are specified as shown in FIG. 19A. As shown in FIG. 19B, the movement of the object (velocity vector) can be expressed by three components of an X-axis direction translation velocity Vx(t) and a Y-axis direction translation velocity Vy(t) of a reference point (principal point O₂) set on the object, and a rotation angular velocity {dot over (θ)}(t) around the reference point on the object. This model is the commonest.

The second one is the model expressing an instantaneous center of rotation and a rotation radius (see FIG. 20). In the fixed coordinate system O-XY in an XY plane, the object is assumed to be rotating at a rotation velocity {dot over (θ)}(t) with a rotation radius R(t) around a certain point f(t)=(X(t), Y(t)) being set as an instantaneous center of rotation, at a certain instant. Like this, the movement within the plane can be expressed by a locus f(t) of the instantaneous center of rotation and the rotation velocity {dot over (θ)}(t) at the instant. This model is often used in the analysis of a link mechanism in mechanics.

In recent years, cameras equipped with a function of correcting parallel movement are proposed in Japanese Patent Application Laid-Open No. H07-225405 and Japanese Patent Application Laid-Open No. 2004-295027. It can be said that in Japanese Patent Application Laid-Open No. H07-225405, the movement of camera in a three-dimensional space is expressed by a translation movement and a rotation movement based on the measurement values of three accelerometers and three angular velocity sensors.

Further, in Japanese Patent Application Laid-Open No. 2004-295027, in the movement of camera including angular movement and parallel movement, as illustrated in FIG. 2 of Japanese Patent Application Laid-Open No. 2004-295027, a distance n of the rotational center from the focal plane is calculated. In mathematical expression (1) of Japanese Patent Application Laid-Open No. 2004-295027, the angular movement amount which occurs when the focal plane is set as the rotation center is calculated in the first half part, and the parallel movement amount which occurs due to translation movement is calculated in the latter half part. The parallel movement amount of the latter half part is a correction term which is considered by being replaced with rotation in the position alienated from the focal plane by a distance n. The method for obtaining the position n of the rotation center in FIGS. 3A and 3B in Japanese Patent Application Laid-Open No. 2004-295027 uses the concept of an instantaneous center which is frequently used in the mechanics, as the model expressing the movement in the space. This is the idea that the movement in the space can be expressed by a succession of the rotational movement, that is, the movement in the space is a rotational movement of a certain radius with a certain point as the center at the instant, and is the rotational movement with a certain radius with the next certain point as the center at the next instant. Therefore, it can be said that in Japanese Patent Application Laid-Open No. 2004-295027, the movement of camera due to shake is modeled as a succession of the rotational movement having the instantaneous center.

However, the method described in Japanese Patent Application Laid-Open No. H07-225405 has the problem that the calculation amount for obtaining the blur amount in the image plane becomes tremendous, and the algorithm of calculation becomes very complicated. Further, the correction calculation with respect to the optical axis direction blur (out of focus) is not mentioned. Further, it can be said that in Japanese Patent Application Laid-Open No. 2004-295027, movement of camera is modeled as a succession of the rotational movement having the instantaneous center of rotation as described above, and the problem of the model and the mathematical expression is that as described in paragraph [0047] of Japanese Patent Application Laid-Open No. 2004-295027 by itself, in the case of F1≈F2 (the forces applied to two accelerometers), the rotation center position n becomes ∞, and calculation cannot be performed. Further, the fact that the rotation center position n is ∞ means that the movement due to the angle in the pitching direction or in the yawing direction is absent, and this movement cannot be detected by the angular velocity sensor. The correction amount can be calculated by using the output of the two acceleration sensors, but the precision is low and the calculation amount becomes tremendous. Further, by the mathematical expression in this case, the correction calculation of the movement in the optical axis direction cannot be made.

Further, with a change in principal point position of the shooting optical system, the correction error component which will be described later is output from the acceleration sensor (accelerometer), but Japanese Patent Application Laid-Open No. H07-225405 and Japanese Patent Application Laid-Open No. 2004-295027 do not have any corresponding technical disclosure.

SUMMARY OF THE INVENTION

The present invention is made in view of the aforementioned problems, and has an object to provide an image stabilization apparatus and an image pickup apparatus which enable accurate image stabilization without a control failure, reduces a calculation amount, and enable image stabilization calculation corresponding to a change of a principal point position of a shooting optical system, in whatever state an angular blur and a parallel blur may coexist.

In order to attain the aforementioned object, an image stabilization apparatus according to an embodiment of the present invention adopts a constitution having a shooting optical system that shoots an object, in which a principal point of the shooting optical system moves in an optical axis direction of the shooting optical system, an angular velocity detector that detects an angular velocity which is applied to the image stabilization apparatus and outputs the angular velocity, an acceleration detector that detects an acceleration which is applied to the image stabilization apparatus and outputs the acceleration, a calculation unit that calculates a position of a principal point of the shooting optical system, a first angular velocity calculation unit that calculates a first angular velocity component about the position of the principal point based on an output of the angular velocity detector, a second angular velocity calculation unit that calculates a second angular velocity component based on the output of the acceleration detector, an calculation result of the first acceleration calculation unit and the position of the principal point, and a controlling unit that performs image stabilization control based on a difference between the first angular velocity component and the second angular velocity component.

Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a main part of an image pickup apparatus that is embodiment 1 according to the present invention.

FIG. 2 is a simplified diagram of a camera state projected to an XY plane of embodiment 1.

FIG. 3 is comprised of FIGS. 3A and 3B showing flowcharts illustrating an operation of embodiment 1.

FIG. 4A is a diagram illustrating a coordinate system fixed onto a camera.

FIG. 4B is a top view of the camera.

FIG. 4C is a front view of the camera.

FIG. 4D is a side view of the camera.

FIG. 5 is a view expressing only an optical system of the camera in a three-dimensional space.

FIGS. 6A and 6B are views illustrating a polar coordinate system and an orthogonal coordinate system of a principal point A.

FIG. 7 is a coordinate map at the time of being projected to an X₉Y₉ plane and a Z₉X₉ plane.

FIG. 8 is a diagram illustrating a camera state projected to the X₉Y₉ plane.

FIG. 9 is a diagram illustrating a camera state projected to the Z₉X₉ plane.

FIG. 10 is a view of a camera initial state at an initial time t=0.

FIG. 11 is a view of a camera initial state in an O-XYZ coordinate system.

FIG. 12 is a basic explanatory diagram of a polar coordinate system.

FIG. 13 is a diagram illustrating a camera state which is projected to a two-dimensional XY coordinate system.

FIG. 14 is a diagram illustrating a camera state projected to a two-dimensional ZX coordinate system.

FIG. 15 is a diagram illustrating a change of a principal point position of a shooting optical system corresponding to a change of an image magnification.

FIG. 16 is a diagram illustrating an effect of accelerometer output correction by presence or absence of accelerometer output correction.

FIG. 17 is comprised of FIGS. 17A and 17B showing flowcharts illustrating an operation of embodiment 2 according to the present invention.

FIG. 18 is a view illustrating an image stabilization apparatus of a camera of a conventional example.

FIGS. 19A and 19B are diagrams illustrating definitions of an object position and an object velocity in an ordinary two-dimensional coordinate system.

FIG. 20 is a diagram illustrating a definition of an ordinary locus of an instantaneous center of rotation.

DESCRIPTION OF THE EMBODIMENTS

Preferred embodiments of the present invention will now be described in detail in accordance with the accompanying drawings.

Aspects for carrying out the present invention are as shown in the following embodiments 1 and 2.

Embodiment 1

In the following embodiment, the shake movement of the camera held by human hands, and an image movement which occurs on an image plane as a result of the shake movement of the camera will be expressed by “rotation revolution movement expression” with the movement model expressing a rotation movement and a revolution movement and a geometrical-optical expression being combined.

The present embodiment is an image stabilization apparatus which calculates a camera movement from the measured values of an accelerometer and an angular velocity sensor, and the rotation revolution movement expression, and further calculates an image movement. By performing drive control of a part of the shooting lens or a part or whole of the image pickup device based on a calculated value of the image movement, the image blur is corrected. Alternatively, the present invention provides an image stabilization apparatus which corrects an image blur by performing image processing of a shot image based on the calculated value of the image movement obtained from the rotation revolution movement expression.

FIG. 1 is a block diagram illustrating a main part of an image pickup apparatus (camera system) including an image stabilization apparatus according to embodiment 1 of the present invention. The parts which perform the same functions as in the conventional examples are assigned with the same reference numerals and characters, and the redundant description will be properly omitted.

The image stabilization apparatus according to embodiment 1 is provided in a lens barrel 102 attachable to and detachable from a camera body 201, and performs blur correction with respect to the directions of five degrees of freedom of pitching (rotation around an Z₂-axis), yawing (rotation around a Y₂-axis), a Y₂-axis direction, a Z₂-axis direction and an X₂-axis (optical axis) direction. However, in FIG. 1 and the following description, an image stabilization system in the pitching rotation and the Y₂-axis direction, and an optical axis direction image stabilization system in the X₂-axis (optical axis) direction are shown, and an image stabilization system in the yawing rotation and the Z₂-axis direction is assumed to be the same as the image stabilization system of the pitching rotation and the Y₂-axis direction.

An angular velocity sensor 130 is an angular velocity detector which is floatingly supported with respect to the lens barrel 102, and detects the angular velocity of the movement which occurs to the camera body 201 (lens barrel 102). The angular velocity sensor 130 according to the embodiment 1 is a piezoelectric vibration angular velocity sensor that detects Coriolis force which is generated by rotation. The angular velocity sensor 130 is an angular velocity sensor internally having sensitivity axes for three axis rotation of pitching, yawing and rolling. The reason why the angular velocity sensor 130 is floatingly supported is to eliminate the influence of mechanical vibration accompanying the mechanism operation of the camera as much as possible. The angular velocity sensor 130 outputs an angular velocity signal corresponding to a detected angular velocity to a filter 160 c.

An accelerometer 121 is an acceleration detector that detects the acceleration of the movement which occurs to the camera body 201 (lens barrel 102). The accelerometer 121 according to the embodiment 1 is a triaxial accelerometer having three sensitivity axes with respect to the three directions, the X-axis, Y-axis and Z-axis, and is floatingly supported by the lens barrel 102. The accelerometer 121 is floatingly supported for the same reason as the case of the angular velocity sensor 130. Further, the accelerometer 121 is a triaxial acceleration sensor (acceleration sensor using a weight) in the present embodiment, and the frequency characteristics of two axes are equally high, but the characteristic of the remaining one axis is low. Therefore, in order to detect the accelerations in the Y₂-axis direction and the Z₂-axis direction orthogonal to the optical axis, the two axes with high sensitivity are used, and the one axis low in characteristic is aligned with the X₂-axis (optical axis direction). This is for precisely detecting the accelerations in the Y₂-axis direction and the Z₂-axis direction which have a large influence on image blur correction.

The output of the accelerometer 121 is A/D-converted after passing through a filter 160 a such as a low pass filter (LPF), and is input to an image stabilizing lens correction calculator 107 in a lens CPU 106. The accelerometer 121 may be mounted to a movable mirror frame which moves in the optical axis direction during zooming or the like, but in such a case, it is necessary to enable the position of the accelerometer 121 with respect to the principal point position after zooming to be detected.

Further, the angular velocity sensor 130 is of a vibratory gyro type as described above, and vibrates at about 26 KHz. Accordingly, if these sensors are mounted on the same substrate, the accelerometer 121 is likely to pick up the vibration noise, and therefore, the accelerometer 121 and angular velocity sensor 130 are mounted on separate substrates.

An image stabilizing lens driver 120 is a driver (actuator) which generates a drive force for driving a correcting lens 101 for correction of the image blur within the plane (within the Y₂Z₂ plane) perpendicular to an optical axis I. The image stabilizing lens driver 120 generates a drive force in the Y₂-axis direction, and drives the correcting lens 101 when a coil not illustrated is brought into an energized state by the drive current output by a voltage driver 161.

A lens position detector 110 is an optical position detector which detects the position of the correcting lens 101 in the plane perpendicular to the optical axis I. The lens position detector 110 monitors the present position of the correcting lens 101, and feeds the information concerning the present position of the correcting lens 101 to an image stabilizing controller 108 via an A/D converter.

The lens CPU 106 is a central processing unit that performs various controls of the lens barrel 102 side. The lens CPU 106 calculates the focal length based on the pulse signal output by a focal length detector 163, and calculates an object distance based on the pulse signal output by an object distance detector 164. Further, in the lens CPU 106, the image stabilizing lens correction calculator 107, the image stabilizing controller 108 and an autofocus lens controller 401 are provided. The lens CPU 106 can perform communication with a body CPU 109 via a lens junction 190 provided between the lens barrel 102 and the camera body 201. An image blur correction start command is sent from the body CPU 109 synchronously with half depression ON of a release switch 191 and an image blur correction stop command is sent to the CPU 106 synchronously with half depression OFF.

Further, the lens CPU 106 monitors the state of a blur correction switch (SW) 103 provided in the lens barrel 102. If the blur correction switch 103 is ON, the lens CPU 106 performs image blur correction control, and if the blur correction switch 103 is OFF, the lens CPU 106 ignores the image blur correction start command from the body CPU 109 and does not perform blur correction.

The image stabilizing lens correction calculator 107 is a part which converts the output signals of the filters 160 a and 160 c into the target velocity information for driving the correcting lens 101 to the target position. The image stabilizing controller 108, the filters 160 a and 160 c, an EEPROM 162, the focal length detector 163 and the object distance detector 164 are connected to the image stabilizing lens correction calculator 107. The autofocus lens controller 401 has an optical axis direction movement velocity calculator 402 which performs calculation for performing optical axis direction movement correction, by using the accelerometer output value from the image stabilizing lens correction calculator 107, and outputs the calculation result to an autofocus lens voltage driver 172.

An autofocus lens 140 can be driven in the optical axis direction by an autofocus lens driver 141 using an ultrasonic motor or a stepping motor as a drive source. The autofocus lens voltage driver 172 generates a voltage for performing drive control of the autofocus lens driver 141.

The image stabilizing lens correction calculator 107 captures the output signals (analog signals) output from the angular velocity sensor 130 and the accelerometer 121 through the filters 160 a and 160 c by quantizing the output signals by A/D conversion. Based on the focal length information obtained from the focal length detector 163, the object distance information obtained from the object distance detector 164 and the information peculiar to the lens which is written in the EEPROM 162, the image stabilizing lens correction calculator 107 converts the signals into the target drive velocity of the correcting lens 101. The conversion method (calculating method) to the target drive position performed by the image stabilizing lens correction calculator 107 will be described in detail later. The target velocity signal which is the information of the target drive velocity calculated by the image stabilizing lens correction calculator 107 is output to the image stabilizing controller 108.

The image stabilizing controller 108 is the part which controls the image stabilizing lens driver 120 via the voltage driver 161, and performs follow-up control so that the correcting lens 101 is driven as the information of the target drive velocity. The image stabilizing controller 108 converts the position detection signal (analog signal) output by the lens position detector 110 into a digital signal and captures the digital signal. The input part to the image stabilizing controller 108 is for the target velocity signal converted into the target drive velocity of the correcting lens 101 which is the output of the image stabilizing lens correction calculator 107, and another input part is for the positional information of the correcting lens 101 which is obtained by the lens position detector 110.

As the control in the image stabilizing controller 108, velocity control is performed by using the deviation between the target drive velocity of the correcting lens 101 and the actual velocity information. The image stabilizing controller 108 calculates a drive signal based on the target drive velocity, velocity information of the correcting lens 101 and the like, and outputs the digital drive signal to the voltage driver 161.

Alternatively, as the control in the image stabilizing controller 108, known PID control may be used. PID control is performed by using the deviation of the target positional information and the lens positional information of the correcting lens 101. The image stabilizing controller 108 calculates the drive signal based on the target positional information, the positional information of the correcting lens 101 and the like, and outputs the digital drive signal to the voltage driver 161.

The filters 160 a and 160 c are filters which remove predetermined frequency components from the output signals of the angular velocity sensor 130 and the accelerometer 121, and cut the noise component and the DC component included in the high-frequency band. The filters 160 a and 160 c perform A/D conversion of the angular velocity signals after the predetermined frequency components are removed, and thereafter, output the angular velocity signals to the image stabilizing lens correction calculator 107.

The voltage driver 161 is a driver which supplies power to the image stabilizing driver 120 according to the input drive signal (drive voltage). The voltage driver 161 performs switching for the drive signal, applies a voltage to the image stabilizing lens driver 120 to drive the image stabilizing lens driver 120.

The EEPROM 162 is a nonvolatile memory which stores lens data that is various kinds of unique information concerning the lens barrel 102 and the coefficients for converting the pulse signals output by the object distance detector 164 into physical quantities.

The focal length detector 163 is a zoom encoder which detects a focal length. The focal length detector 163 outputs the pulse signal corresponding to a focal length value to the image stabilizing lens correction calculator 107. The object distance detector 164 is a focusing encoder for detecting the distance to an object. The object distance detector 164 detects the position of a shooting optical system 105 (autofocus lens 140), and outputs the pulse signal corresponding to the position to the image stabilizing lens correction calculator 107.

From the detection results of the focal length detector 163 and the object distance detector 164, the position of the principal point A of the shooting optical system 105 is calculated as will be described later. Alternatively, the positional information of the principal point A of the shooting optical system 105 stored in the EEPROM 162 is read, and control which will be described later is performed.

The body CPU 109 is a central processing unit which performs various controls of the entire camera system. The body CPU 109 transmits a blur correction start command to the lens CPU 106 based on the ON operation of the release switch 191. Alternatively, the body CPU 109 transmits a blur correction stop command to the lens CPU 106 based on the OFF operation of the release switch 191. Alternatively, the body CPU 109 performs various other kinds of processing. Information on the release switch 191 is input to the body CPU 109, and the release switch 191 can detect half depressing or fully depressing operation of the release button not illustrated. The release switch 191 is a switch which detects the half depressing operation of the release button not illustrated, starts a series of shooting preparing operations, detects a fully depressing operation of the release button and starts a shooting operation.

Next, an interior of the image stabilizing lens correction calculator 107 will be described in detail.

A rotation angular velocity calculator 301 calculates a rotation angular velocity {dot over (θ)}_(caxy) based on the angular velocity sensor output. The angular velocity sensor output and the rotation angular velocity are generally in the linear relation, and therefore, the rotation angular velocity can be obtained by multiplying the angular velocity sensor output by a coefficient.

An accelerometer output corrector 302 practically obtains only the value of the third term (=jr_(axy){umlaut over (θ)}_(axy): revolution angular acceleration component) by performing erasure calculation of the fourth term to the seventh term of expression (27) which will be described later based on an output value of accelerometer A_(ccy2(O-X2Y2)) and the rotation angular velocity {dot over (θ)}_(caxy). A single dot on reference symbol represents the first derivative value and two dots on reference symbol represent the second derivative value with respect to time.

The fifth term and the sixth term of the unnecessary terms in expression (27) are the ones considering the position of the principal point A of the shooting optical system 105 and the position of the accelerometer 121 which are described in the present invention, and by performing erasure calculation of the unnecessary terms considering the positions, accurate blur correction can be made. The details will be described later.

A high-pass filter 303 is a filter which transmits a frequency component necessary for blur correction. A revolution angular velocity calculator 304 can obtain a revolution angular acceleration {umlaut over (θ)}_(axy) by dividing a revolution acceleration component jr_(axy){umlaut over (θ)}_(axy) which is the input value from the high-pass filter 303 by an object side focal length r_(axy). Further, by performing time integration of the revolution angular acceleration, a revolution angular velocity {dot over (θ)}_(axy) necessary for control is obtained.

A rotation revolution difference image stabilization amount calculator 305 calculates the image movement velocity in the Y₂ direction of the image pickup surface of the image pickup device 203 by substituting a read imaging magnification: β, an actual focal length value: f, and the rotation angular velocity {dot over (θ)}_(caxy) and the revolution angular velocity {dot over (θ)}_(axy), which are calculated in real time, into the following Expression (15) which will be described later. {right arrow over (V)} _(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ ≈(1+β)f({dot over (θ)}_(caxy)−{dot over (θ)}_(axy))e ^(j(π/2))  (15)

The obtained image movement velocity becomes the target drive velocity. The image movement velocity in the Z₂ direction of the image pickup surface can be similarly obtained from expression (16) which will be described later, but the description will be omitted here.

A theoretical formula selector 306 selects use of the formula of rotation revolution difference movement correction using a difference between the rotation angular velocity and the revolution angular velocity, or use of the formula of rotation movement correction using only a rotation angular velocity as the formula used for correction calculation, according to the ratio of the revolution angular velocity to the rotation angular velocity.

<<Meaning and Use Method of Rotation Revolution Blur Formula Expression (15)>>

In embodiment 1, the components of the camera shake (pitching angle movement and parallel movement in the Y₂ direction) in the XY plane are expressed by the rotation revolution movement formula, and the Y₂ direction image movement in the image pickup surface (image pickup surface vertical direction image movement) velocity is obtained by Expression (15) which is the approximate expression of the rotation revolution movement formula. In the description of the present invention, “vector R” is described as “{right arrow over (R)}”. {right arrow over (V)} _(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎≈−(1+β)f({dot over (θ)}_(caxy)−{dot over (θ)}_(axy))e ^(j(π/2))  (15) where {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ represents an image movement velocity vector in an image pickup surface, β represents an imaging magnification (without unit) at the time of image blur correction of the shooting lens of this camera, f represents an actual focal length (mm) at the time of image blur correction of the shooting lens of this camera, (1+β)f represents an image side focal length (mm), {dot over (θ)}_(caxy) represents time derivative value of the rotation angle θ_(caxy) about the principal point A as the center, rotation angular velocity (rad/sec), {dot over (θ)}_(axy) represents time derivative value of the revolution angle θ_(axy) about an origin O as the center, and the revolution angular velocity (rad/sec), and e^(j(π/2)) represents that the image movement velocity vector indicates the direction rotated by 90 degrees from the X₂-axis (optical axis) in the polar coordinate system because of (π/2)^(th) power.

The detailed deriving procedure of the approximate theoretical formula of the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-X₂Y₂ in the XY plane which is expression (15) will be described later, and here, the meaning of this formula will be described with reference to FIG. 2.

FIG. 2 shows a schematic diagram of a state of a camera which is projected on an XY plane. Here, the outer shape and the lens of the camera are illustrated. In the camera, a principal point A_(xy) of the optical system, an accelerometer B_(xy), a center C_(xy) of the image pickup device 203 are illustrated. An origin O₄ of the coordinate system O₄-X₄Y₄ is fixed to a principal point A_(xy) of the optical system. When the principal point A_(xy) is moved, an X₄-axis keeps a parallel state with respect to the X-axis, and a Y₄-axis keeps the parallel state with respect to a Y-axis. An origin O₂ of a coordinate system O₂-X₂Y₂ is fixed to the principal point A_(xy), and moves integrally with the camera. In this case, the X₂-axis is always matched with the optical axis of this camera.

The angle around the origin O₂ from the X₄-axis to the X₂-axis is set as the rotation angle θ_(caxy). The angle around the origin O from the X-axis to a scalar r_(axy) is set as a revolution angle θ_(axy). Scalar r_(axy)≈(1+β)f/β represents an object side focal length. β is an imaging magnification. A gravity acceleration vector {right arrow over (G)}_(xy) at the principal point A_(xy) has an angle θ_(gxy) around the principal point A_(xy) from the X₄-axis to the {right arrow over (G)}_(xy) by normal rotation (counterclockwise). The θ_(gxy) is a constant value.

The approximate expression means that the image movement velocity in the Y₂ direction in the image pickup surface can be expressed by −(image side focal length)×(value obtained by subtracting the revolution angular velocity from the rotation angular velocity). The strict formula without approximation is expression (12). When image blur correction with higher precision is performed, the strict formula expression (12) may be used. Here, r_(axy)≈(1+β)f/β represents the object side focal length.

$\begin{matrix} {{\overset{\rightarrow}{V}}_{d\; c\; x\;{y{({O_{2} - {X_{2}Y_{2}}})}}} = {{\left\lbrack {\frac{f{\overset{.}{r}}_{a\; x\; y}}{r_{a\; x\; y} - f} - \frac{f\; r_{a\; x\; y}{\overset{.}{r}}_{a\; x\; y}}{\left( {r_{a\; x\; y} - f} \right)^{2}}} \right\rbrack{\mathbb{e}}^{j{({\theta_{a\; x\; y} - \theta_{c\; a\; x\; y}})}}} + {\frac{f{\overset{.}{r}}_{a\; x\; y}}{r_{a\; x\; y} - f}{\overset{.}{\theta}}_{a\; x\; y}{\mathbb{e}}^{j{(\begin{matrix} {\theta_{a\; x\; y} + \frac{\pi}{2} -} \\ \theta_{c\; a\; x\; y} \end{matrix})}}} - {\left( {1 + \beta} \right)f\;{\overset{.}{\theta}}_{c\; a\; x\; y}{\mathbb{e}}^{j{(\frac{\pi}{2})}}}}} & (12) \end{matrix}$

Similarly to the case of the XY plane, the components of the yawing angle movement of the camera shake on the ZX plane and the parallel movement in the Z₂-direction are expressed by the rotation revolution movement formula, and the Z₂ direction image movement (image movement in the lateral direction of the image pickup surface) velocity in the image pickup device surface is obtained by the approximate expression (16). This means the same thing as expression (15) described above, and therefore, the description will be omitted here.

Next, the component included in the output of the accelerometer 121 will be described. The deriving procedure of the formula will be described later. Here, the necessary items for image stabilization will be described. The accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction, which is used for obtaining the revolution angular velocity {dot over (θ)}_(axy) is represented by expression (27).

$\begin{matrix} {A_{c\; c\;{y_{2}{({O - {X_{2}Y_{2}}})}}} \approx {{j\; r_{a\; x\; y}{{\overset{¨}{\theta}}_{a\; x\; y}\left( {{third}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {{j2}{\overset{.}{r}}_{a\; x\; y}{{\overset{.}{\theta}}_{a\; x\; y}\left( {{fourth}\mspace{14mu}{term}\text{:}\mspace{14mu}{Coriolis}\mspace{14mu}{force}} \right)}} + {j\; r_{b\; a\; x\; y}{\overset{.}{\theta}}_{c\; a\; x\; y}^{2}{\sin\left( {\theta_{b\; a\; x\; y} + \pi} \right)}\left( {{fifth}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {j\; r_{b\; a\; x\; y}{\overset{¨}{\theta}}_{c\; a\; x\; y}{\sin\left( {\theta_{b\; a\; x\; y} + \frac{\pi}{2}} \right)}\left( {{sixth}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {j\; G\;{\sin\left( {\theta_{g\; x\; y} - \pi} \right)}\left( {{seventh}\mspace{14mu}{term}\text{:}\mspace{14mu}{gravity}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right.}}} & (27) \end{matrix}$

The third term jr_(axy){umlaut over (θ)}_(axy) in expression (27) is the component necessary for obtaining the revolution angular velocity {dot over (θ)}_(axy) which is desired to be obtained in embodiment 1, and if the third term is divided by the known r_(axy), and is integrated, the revolution angular velocity {dot over (θ)}_(axy) is obtained. The fourth term, the fifth term, the sixth term and the seventh term are unnecessary terms for calculation, and unless they are erased, they become the error components at the time of obtaining the revolution angular velocity {dot over (θ)}_(axy). The fourth term j2{dot over (r)}_(axy){dot over (θ)}_(axy) represents Coriolis force, and if the movement in the camera optical axis direction is small, the velocity in the optical axis direction {dot over (r)}_(axy)≈0, the fourth term is the term which can be ignored. Expression (27) will be also described later.

The fifth term (the first correction component) and the sixth term (the second correction component) are error components which are included in the accelerometer output A_(ccy2(O-x2y2)) since the accelerometer 121 cannot be disposed in the ideal principal point position A, and is disposed in the position B. The fifth term jr_(baxy){dot over (θ)}_(caxy) ² sin(θ_(baxy)+π) is the centripetal force which is generated due to the rotation of the accelerometer 121 around the principal point A. r_(baxy) and θ_(baxy) represent the coordinates of the position B where the accelerometer 121 is mounted, and are known. {dot over (θ)}_(caxy) represents a rotation angular velocity, and is the value which can be measured by the angular velocity sensor 130 mounted on the camera. Therefore, the value of the fifth term can be calculated.

The sixth term jr_(baxy){umlaut over (θ)}_(caxy) sin(θ_(baxy)+π/2) is the acceleration component when the accelerometer 121 rotates around the principal point A, and r_(baxy) and θ_(baxy) represent the coordinates of the position B where the accelerometer 121 is mounted, and are known. {umlaut over (θ)}_(caxy) can be calculated by differentiating the value of the angular velocity sensor 130 mounted on the camera. Therefore, the value of the sixth term can be calculated.

The seventh term jG sin(θ_(gxy)−π) is the influence of the gravity acceleration, and can be dealt as a constant in this approximate expression, and therefore, can be eliminated by the filtering processing of a circuit.

The accelerometer output A_(ccx2(O-X2Y2)) in the X₂-axis direction that is an optical axis for use in optical axis direction movement correction is represented by expression (26). A _(ccx) ₂ _((O-X) ₂ _(Y) ₂ ₎ ≈{umlaut over (r)} _(axy) (first term: optical axis direction movement) −r _(axy){dot over (θ)}_(axy) ² (second term: centripetal force of revolution) +r _(baxy){dot over (θ)}_(caxy) ² cos(θ_(baxy)+π) (fifth term: centripetal force of rotation) +r _(baxy){umlaut over (θ)}_(caxy) cos(θ_(baxy)+π/2) (sixth term: acceleration of rotation) +G cos(θ_(gxy)−π) (seventh term: gravity acceleration component)  (26)

In expression (26), what is necessary for optical axis direction movement correction is only the first term {umlaut over (r)}_(axy) (acceleration in the optical axis direction). The second term, the fifth term, the sixth term and the seventh term are the components unnecessary for the optical axis direction movement correction, and unless they are erased, they become error components at the time of obtaining the acceleration {umlaut over (r)}_(axy) in the X₂-axis direction which is the optical axis. The second term, the fifth term, the sixth term and the seventh term can be erased by the similar method to the case of expression (27). Expression (26) will also be described later.

<<Description of Flowchart>>

FIG. 3 is comprised of FIGS. 3A and 3B showing flowcharts illustrating the flow of the operation relating to the image stabilizing lens correction of the image stabilization apparatus in embodiment 1. Hereinafter, the operation relating to the correction amount calculation of the correcting lens 101 will be described according to FIGS. 3A and 3B.

In step (hereinafter, described as S) 1010, when the blur correction SW 103 is in an ON state, a correction start command is output from the camera body 201 by half depression ON of the release switch 191. By receiving the correction start command, the blur correction operation is started.

In S1020, it is determined whether or not a blur correction stop command is output from the camera body 201, and when it is output, the flow proceeds to S1400, and the blur correcting operation is stopped. When it is not output, the flow proceeds to S1030 to continue the blur correction operation. Accordingly, the blur correction operation is continued until a blur correction stop command is output from the camera body 201.

In S1030, the numeric value obtained from the focal length detector 163 is read. The numeric value of the focal length detector 163 is used for calculation of the imaging magnification β. In S1040, the numeric value (absolute distance) obtained from the object distance detector 164 is read. In S1050, the imaging magnification β is calculated based on the numeric value of the focal length detector 163 and the numeric value of the object distance detector 164. Calculation of the imaging magnification β is a unique formula according to the optical system configuration, and calculation is performed based on the imaging magnification calculation formula. The obtaining of the imaging magnification β does not especially have to be performed based on the formula, but the imaging magnification may be obtained from a table with respect to the encoder position of the focal length and the absolute distance.

In S1060, the outputs of the angular velocity sensor 130 and the accelerometer 121 are read. In S1070, the rotation angular velocity {dot over (θ)}_(caxy) is calculated based on the angular velocity sensor output from S1310. The angular velocity sensor output and the rotation angular velocity are generally in the linear relation, and therefore, the rotation angular velocity can be obtained by multiplication by a coefficient.

In S1410, it is determined whether the release switch 191 is fully depressed to be ON, that is, whether the release button not illustrated is fully depressed. If YES, that is, if it is the exposure time of the camera, the flow proceeds to S1420, and if NO, that is, if it is before exposure, the flow proceeds to S1090. In S1090, by performing erasure calculation of the fourth term to the seventh term of expression (27) based on the output value of accelerometer A_(ccy2(O-X2Y2)) from S1080 and the rotation angular velocity {dot over (θ)}_(caxy) from S1070, and thereby, substantially only the value of the third term: jr_(axy){umlaut over (θ)}_(axy) is obtained.

More specifically, for example, in the output of accelerometer A_(ccy2(O-X2Y2)) in the Y₂-axis direction, the values of the fifth term and the sixth term are calculated by performing calculation of r_(baxy) and θ_(baxy) which are the relative positional information of the position of the principal point A of the shooting optical system 105 with respect to the accelerometer 121 based on the principal point position information of S1050, and the values of the fifth term and the sixth term are removed from the output A_(ccy2(O-X2Y2)). The fourth term and the seventh term are as described above.

In S1100, the output value of S1090: jr_(axy){umlaut over (θ)}_(axy) is divided by the object side focal length r_(axy), and thereby, the revolution angular acceleration {umlaut over (θ)}_(axy) is obtained.

Further, by performing time integration of the revolution angular acceleration, the revolution angular velocity {dot over (θ)}_(axy) necessary for control is obtained. In the next S1104, the ratio of the revolution angular velocity to the rotation angular velocity obtained in S1070 is calculated. In the next S1106, the value of the rotation revolution angular velocity ratio calculated in S1104 is stored. When the previous value remains, the new one is written over the previous value and is stored, and the flow proceeds to S1110.

In S1420, the value of the rotation revolution angular velocity ratio stored in S1106 in the past is read, and the flow proceeds to S1110. In S1110, it is determined whether or not the ratio of the rotation angular velocity {dot over (θ)}_(caxy) from S1070 and the revolution angular velocity {dot over (θ)}_(axy) from S1100 is larger than 0.1 (the predetermined value). When the ratio is larger than 0.1 (the predetermined value), the flow proceeds to S1120. When the ratio is 0.1 (the predetermined value or less, the flow proceeds to S1130.

In the rotation revolution difference movement correction calculation of S1120, the image movement velocity in the Y₂ direction of the image pickup surface is calculated by substituting the read imaging magnification β, the actual focal length value f, the rotation angular velocity value {dot over (θ)}_(caxy) calculated in real time, and the estimated revolution angular velocity {dot over (θ)}_(axy) obtained by multiplying the rotation revolution angular velocity ratio stored in S1106 by the rotation angular velocity value {dot over (θ)}_(caxy) calculated in real time into expression (15). {right arrow over (V)} _(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ ≈(1+β)f({dot over (θ)}_(caxy)−{dot over (θ)}_(axy))e ^(j(π/2))  (15)

The obtained image movement velocity becomes the correction target velocity. The image movement velocity in the Z₂-direction of the image pickup surface is similarly obtained from expression (16), but the description is omitted here.

In rotation movement correction calculation of S1130, the revolution angular velocity {dot over (θ)}_(axy) which is substituted into expression (15) is set to be a constant, zero, without performing calculation from the sensor output. Therefore, expression (15) is simplified, and written as follows. {right arrow over (V)} _(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ ≈−(1+β)f{dot over (θ)} _(caxy) e ^(j(π/2))

If the rotation angular velocity {dot over (θ)}_(caxy) from S1070 in real time is substituted into expression (15), the image movement velocity in the Y₂-direction in real time is obtained.

In S1140, follow-up control calculation for driving the correcting lens 101 is performed, with the sensitivity of the correcting lens 101 based on taken into consideration, the image movement velocity obtained by the rotation revolution difference movement correction calculation (S1120) or the rotation movement correction calculation (S1130). At this time, the present position output of the correcting lens 101 is simultaneously monitored.

In S1150, the calculation result is output to the voltage driver 161 which drives the correcting lens 101 based on the follow-up control calculation result in S1140. After the calculation result is output to the voltage driver 161, the flow returns to S1020.

In S1300, it is determined whether or not the imaging magnification β is 0.15 or more. When the imaging magnification β is 0.15 or more, the flow proceeds to S1320. When the imaging magnification β is less than 0.15 in S1300, the flow proceeds to S1410.

In S1320, the unnecessary terms (the second, fifth, sixth and seventh terms) of expression (26) are calculated and erased based on the angular velocity sensor output A_(ccx2(O-X2Y2)) in the X₂-axis (optical axis) direction from S1310 and the rotation angular velocity {dot over (θ)}_(caxy) from S1070, and the first term {umlaut over (r)}×_(axy), which is an necessary acceleration in the optical axis direction, is calculated. By time integration of the first term, the optical axis direction movement velocity {dot over (r)}_(axy) is obtained.

In S1330, based on the optical axis direction blur velocity {dot over (r)}_(axy) from S1320, follow-up control calculation for driving the autofocus lens 140 is performed. In S1340, based on the follow-up control calculation result in S1330, the calculation result is output to the autofocus lens voltage driver 172 which drives the autofocus lens 140, and thereafter, the flow returns to S1020.

In the above description, in S1090, based on the principal point position information from S1050, the output value of accelerometer A_(ccy2(O-X2Y2)) from S1080 and the rotation angular velocity {dot over (θ)}_(caxy) from S1070, for example, in the output of accelerometer A_(ccy2(O-X2Y2)) in the Y₂-axis direction, the values of the fifth term and the sixth term are calculated by performing calculation of r_(baxy) and θ_(baxy) which are the relative position information between the position of the principal point A of the shooting optical system 105 and the accelerometer 121 from the principal point position information of S1050, and the values of the fifth term and the sixth term are removed from the output A_(ccy2(O-X2Y2)), but the control as follows may be adopted. It goes without saying that, for example, the values of r_(baxy) and θ_(baxy) corresponding to the calculation value of the imaging magnification β of S1050 are written in the EEPROM 162, and by reading them in S1090, the values of the fifth term and the sixth term may be calculated, or the similar effect also can be obtained if the calculation formulae of the fifth term and the sixth term corresponding to the calculated value of the imaging magnification β are written in the EEPROM 162, and by reading them in S1090, the values of the fifth term and the sixth term are calculated based on the rotation angular velocity {dot over (θ)}_(caxy) from S1070.

<<Detailed Description of Rotation Revolution Model Diagram and Rotation Revolution Movement Formula>>

Hereinafter, description of a rotation revolution model diagram and description of a rotation revolution movement formula will be performed. First, the coordinate system of the image stabilization apparatus will be described.

First, a moving coordinate system O₂-X₂Y₂Z₂ which is fixed onto the camera will be described. At the time of camera being shaken, the coordinate system O₂-X₂Y₂Z₂ performs shake movement integrally with the camera, and therefore, the coordinate system is called a moving coordinate system.

A three-dimensional coordinate system will be described with a three-dimensional coordinate system diagram of FIG. 4A. The coordinate system is an orthogonal coordinate system, and as in FIG. 4A, the X₂-axis, Y₂-axis and Z₂-axis are orthogonal to one another. Pitching is defined as the rotation about the Z₂-axis around the origin O₂ and the pitching from the +X₂-axis to the +Y₂-axis is assigned with plus sign with the origin O₂ as the center. Yawing is defined as the rotation about the Y₂-axis around the origin O₂ and the yawing from the +Z₂-axis to the +X₂-axis is assigned with plus sign. Rolling is defined as the rotation about the X₂-axis around the origin O₂ and the rolling from the +Y₂-axis to the +Z₂-axis is assigned with plus sign.

FIG. 4D is a camera side view with the camera sectional view of FIG. 1 being simplified, and the lens is illustrated in the see-through state. With the camera side view of FIG. 4D, the coordinate system O₂-X₂Y₂Z₂ which is fixed to the camera will be described.

The origin O₂ of the coordinate system is fixed to the principal point A of the entire optical system (shooting optical system 105) which exists in the lens barrel 102, and the image pickup device direction on the optical axis is set as the plus direction of X₂-axis. The camera upper direction (upper direction of this drawing) is set as the plus direction of Y₂-axis, and the remaining direction is set as the plus Z₂-axis. In the state in which the camera is projected on an X₂Y₂ plane, a position B of the accelerometer 121 is expressed by a line segment length r_(baxy) between the origin O₂ and the position B of the accelerometer 121, and an angle θ_(baxy) formed by the X₂-axis and the line segment r_(baxy). The rotational direction in the direction to the plus Y₂-axis from the plus X₂-axis with the O₂-axis as the center is set as plus direction.

The camera top view of FIG. 4B illustrates the position B of the accelerometer 121 in the state projected onto a Z₂X₂ plane. In the state in which the camera is projected onto the Z₂X₂ plane, the position B of the accelerometer 121 is expressed by a line segment length r_(bazx) between the origin O₂ and the position B of the accelerometer 121 and an angle ψ_(bazx) formed by the Z₂-axis and the line segment r_(bazx). The rotational direction in the direction to +X₂-axis from the +Z₂-axis is set as plus direction. Further, the position B is also expressed by an angle ζ_(bazx) formed by the X₂-axis and the line segment r_(bazx). The rotational direction in the direction to the +Z₂-axis from the +X₂-axis is set as plus direction.

The camera front view of FIG. 4C illustrates the position of the accelerometer 121 in the state projected onto a Y₂Z₂ plane. In the state projected onto the Y₂Z₂ plane, the position B of the accelerometer 121 is expressed by a line segment length r_(bayz) between the origin O₂ and the position B of the accelerometer 121, and an angle ρ_(bayz) formed between the Y₂-axis and the line segment r_(bayz). The rotational direction in the direction to the +Z₂-axis from the +Y₂-axis with the O₂-axis as the center is set as plus direction.

Next, a fixed coordinate system O₉-X₉Y₉Z₉ where an object S is present will be described. The coordinate system O₉-X₉Y₉Z₉ is integral with the object, and therefore, will be called a fixed coordinate system.

FIG. 5 is a diagram expressing only the optical system of the camera in a three-dimensional space. A point A=O₂ is the principal point A of the shooting optical system 105 already described, and is also an origin O₄ of the coordinate system O₄-X₄Y₄Z₄.

The disposition of the initial state (time t=0) of the fixed coordinate system O₉-X₉Y₉Z₉ will be described. A coordinate origin O₉ is matched with the object to be shot. A coordinate axis +Y₉ is set in the direction opposite to the gravity acceleration direction of the earth. The remaining coordinate axes +X₉ and +Z₉ are arbitrarily disposed. A point D is an imaging point of the object S, and is geometric-optically present on the extension of a line segment OA.

With FIG. 6A, a three-dimensional expression method of the principal point A in the fixed coordinate system O₉-X₉Y₉Z₉ will be described. Since the position of the camera is illustrated on the space, only the principal point A to be the reference is illustrated in FIG. 6A, and the other portions such as the imaging point D are not illustrated. The principal point A is shown by the vector with the origin O₉ as the reference, and is set as {right arrow over (R)}_(a). The length of the {right arrow over (R)}_(a) is set as a scalar r_(a). An angle to the {right arrow over (R)}_(a) from the Z₉-axis with O₉ as the center is set as ψ_(a). An angle from the X₉-axis to a straight line OJ, which is the line of intersection between a plane including the {right arrow over (R)}_(a) and the Z₉-axis and the XY plane, is set as θ_(a).

As described above, {right arrow over (R)}_(a) can be expressed in the polar coordinate system by three values of the scalar r_(a), the angle ψ_(a) and the angle θ_(a). If the three values can be calculated from measurement by a sensor and the like, the position of the principal point A of the camera is obtained.

<<Reference: Orthogonal Coordinate System Transformation Formula>>

In this case, the formula for transforming the position of the principal point A into an orthogonal coordinate system from a polar coordinate system is the following formula. In FIG. 6B, the orthogonal coordinate system is illustrated. X _(a) =r _(a) sin ψ_(a)×cos θ_(a) Y _(a) =r _(a) sin ψ_(a)×sin θ_(a) Z _(a) =r _(a) cos ψ_(a)

(Description of Projection Coordinate System)

Next, the coordinate expression when the {right arrow over (R)}_(a) is projected onto the X₉Y₉ plane and the coordinate expression when {right arrow over (R)}_(a) is projected onto the Z₉X₉ plane will be described with reference to FIG. 7. With FIG. 7, a moving coordinate system O₄-X₄Y₄Z₄ will be described. The moving coordinate system O₄-X₄Y₄Z₄ is also provided to the principal point A. An origin O₄ is fixed to the principal point A. More specifically, the origin O₄ also moves with movement of the principal point A. A coordinate axis +X₄ is always disposed to be parallel with the coordinate axis +X₉, and a coordinate axis +Y₄ is always disposed parallel with the coordinate axis +Y₉. The parallelism is also kept when the principal point A is moved. The direction of the gravity acceleration {right arrow over (G)} at the principal point A is a minus direction of the coordinate axis Y₉.

Two-dimensional coordinate expression when the camera is projected on the X₉Y₉ plane will be described. In FIG. 7, the point where the principal point A is projected onto the X₉Y₉ plane is set as a principal point A_(xy). The line segment between the origin O₉ and the principal point A_(xy) is set as the scalar r_(axy), and the angle to the scalar r_(axy) from the X₉-axis with the origin O₉ as the center is set as θ_(axy). The angle θ_(axy) is the same angle as θ_(a) described above. In order to clarify the fact that this is projection onto the X₉Y₉ plane, reference characters xy are assigned.

FIG. 8 illustrates the camera state projected on the X₉Y₉ plane. In this case, the outer shape and the lens of the camera are also illustrated. The origin O₄ of the coordinate system O₄-X₄Y₄ is fixed to the principal point A_(xy) which is described above. When the principal point A_(xy) is moved, the X₄-axis keeps a parallel state with the X₉-axis, and the Y₄-axis keeps a parallel state with the Y₉-axis.

As described above, the origin O₂ of the coordinate system O₂-X₂Y₂ is fixed to the principal point A_(xy), and moves integrally with the camera. At this time, the X₂-axis is always matched with the optical axis of this camera. The angle at the time of being rotated to the X₂-axis from the X₄-axis with the origin O₂ as the center is set as θ_(caxy) (=θ_(ca): completely the same value). The gravity acceleration {right arrow over (G)}_(xy) at the principal point A_(xy) has an angle θ_(gxy) from the X₄-axis in the positive rotation (counterclockwise) to the {right arrow over (G)}_(xy) with the principal point A_(xy) as the center. The θ_(gxy) is a constant value.

Here, the terms used in the present invention will be described. In the present invention, by being likened to the movement of the sun and the earth, the origin O₉ where the object is present is compared to the sun, and the principal point A of the camera is compared to the center of the earth. The angle θ_(axy) is called “the revolution angle” within the XY plane, and the angle θ_(caxy) is called “the rotation angle” within the XY plane. More specifically, this is similar to the fact that revolution indicates that the earth (camera) goes around the sun (object), whereas rotation indicates the earth (camera) itself rotates.

Next, two-dimensional coordinate expression when the camera is projected onto the Z₉X₉ plane will be described. FIG. 9 illustrates the camera state projected onto the Z₉X₉ plane. Here, the outer shape and the lens of the camera are also illustrated. The origin O₄ of the coordinate system O₄-Z₄X₄ is fixed to the principal point A_(zx). When the principal point A_(zx) is moved, the Z₄-axis keeps a parallel state with the Z₉-axis, and the X₄-axis keeps a parallel state with the X₉-axis.

The origin O₂ of the coordinate system O₂-Z₂X₂ is fixed to the principal point A_(zx), and moves integrally with the camera. At this time, the X₂-axis is always matched with the optical axis of the camera. The angle at the time of being rotated to the X₂-axis from the Z₄-axis with the origin O₂ as the center is set as ψ_(cazx). Further, the angle at the time of being rotated to the X₂-axis from the X₄-axis with the origin O₂ as the center is set as ζ_(cazx).

In the three-dimensional coordinate system of FIG. 10, a camera initial state at an initial time of a time t=0 will be described. The description will be made on the assumption that in the fixed coordinate system O₉-X₉Y₉Z₉, a photographer causes the object S(t=0) desired to be shot to correspond to the center of the finder or the liquid crystal display (LCD), and the object S(t=0) is on the optical axis for convenience in this case. The origin O₉ is caused to correspond to the object S(t=0). The principal point A of the shooting optical system 105 and the imaging point D where the image of the object S(t=0) is formed are geometrically present on the optical axis of a straight line. The gravity acceleration {right arrow over (G)} at the position of the principal point A is in the minus direction of the coordinate axis Y₉.

If the photographer causes the object S desired to be shot to correspond to the autofocus (AF) frame other than the center of the finder or the liquid crystal display (LCD), the line segment connecting the object S and the principal point A is set as a {right arrow over (R)}_(a), and may be modeled.

Next, a new fixed coordinate system O-XYZ is set. The origin O of the fixed coordinate system O-XYZ is caused to correspond to the origin O₉, and the coordinate axis X is caused to correspond to the optical axis of the camera. The direction of the coordinate axis Y is set so that the coordinate axis Y₉ is present within the XY plane. If the coordinate axis X and the coordinate axis Y are set, the coordinate axis Z is uniquely set.

As illustrated in FIG. 11, for convenience of description, the fixed coordinate system O₉-X₉Y₉Z₉ will not be illustrated, and only the fixed coordinate system O-XYZ will be illustrated as the fixed coordinate system hereinafter. By the aforementioned definition of the coordinate system, in the initial state at the time t=0, the gravity acceleration {right arrow over (G)} is present within the XY plane.

Next, the movement expression showing the relationship of the camera shake and image movement will be derived. In order to facilitate expression of the mathematical expression, polar coordinate system expression is used. Further, the first order derivative and the second order derivative of the vector and the angle are performed. Thus, by using FIG. 12 which is a basic explanatory diagram of a polar coordinate system, the meaning of the codes in the mathematical expression which is common and used here will be described. The positional expression of the point A which is present on the coordinate system O-XY is shown by a position {right arrow over (R)}. The position {right arrow over (R)} is the function of a time, and can be also described as {right arrow over (R)}(t).

Position vector:

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{R}(t)} = {{r(t)}{\mathbb{e}}^{{j\theta}{(t)}}}} \\ {= \overset{\rightarrow}{R}} \\ {= {r\;{\mathbb{e}}^{j\theta}}} \\ {= {{r\;\cos\;\theta} + {j\; r\;\sin\;\theta}}} \end{matrix} & (1) \end{matrix}$

The real term r cos θ is the X direction component, and the imaginary term jr sin θ is the Y direction component. Expressed in the orthogonal coordinate system, the X direction component is A_(x)=r cos θ, and the Y direction component is A_(y)=r sin θ.

Next, the velocity {right arrow over (V)}={dot over ({right arrow over (R)} is obtained by first order derivative of the position {right arrow over (R)} by the time t.

Velocity Vector:

$\begin{matrix} \begin{matrix} {\overset{\rightarrow}{V} = \overset{\rightarrow}{\overset{.}{R}}} \\ {= {{\overset{.}{r}{\mathbb{e}}^{j\theta}} + {r\overset{.}{\theta}{\mathbb{e}}^{j{({\theta + \frac{\pi}{2}})}}}}} \end{matrix} & (2) \end{matrix}$ Expressed in the orthogonal coordinate system, the X direction component is V _(x) ={dot over (A)} _(x) ={dot over (r)} cos θ+r{dot over (θ)} cos(θ+π/2), and the Y direction component is V _(y) ={dot over (A)} _(y) ={dot over (r)} sin θ+r{dot over (θ)} sin(θ+π/2).

Next, the acceleration {umlaut over ({right arrow over (R)} is obtained by the first order derivative of the velocity {dot over ({right arrow over (R)} by the time t.

Acceleration Vector: {umlaut over (R)}={umlaut over (r)}e ^(jθ) +r{dot over (θ)} ² e ^(j(θ+π)) +r{umlaut over (θ)}e ^(j(θ+π/2))+2{dot over (r)}{dot over (θ)}e ^(j(θ+π/2))  (3) where the first term {umlaut over (r)}e^(jθ) represents the acceleration component of a change in the length r, the second term r{dot over (θ)}²e^(j(θ+π)) represents the centripetal force component, the third term r{umlaut over (θ)}e^(j(θ+π/2)) represents the angular acceleration component, and the fourth term: 2{dot over (r)}{dot over (θ)}e^(j(θ+π/2)) represents the Coriolis force component.

Expressed in the orthogonal coordinate system, the acceleration vector is obtained by the following expressions (4a) and (4b).

X direction component Ä_(x): Ä _(x) ={umlaut over (r)} cos θ+r{dot over (θ)} ² cos(θ+π)+r{umlaut over (θ)} cos(θ+π/2)+2{dot over (r)}{dot over (θ)} cos(θ+π/2)  (4a)

Y direction component Ä_(y): Ä _(y) ={umlaut over (r)} sin θ+r{dot over (θ)} ² sin(θ+π)+r{umlaut over (θ)} sin(θ+π/2)+2{dot over (r)}{dot over (θ)} sin(θ+π/2)  (4b)

The theoretical formula of the present invention will be described in the two-dimensional XY coordinate system when the camera is projected onto the XY plane illustrated in FIG. 13. In FIG. 13, setting of the coordinate system and codes of the two-dimensional XY coordinate system will be also described. Description will be made by partially including the content which is already described.

The object S is disposed on the fixed coordinate system O-XY. In the initial state drawing at a time t=0, the codes will be described. In the initial state (t=0), the optical axis of the camera corresponds to the coordinate axis X of the fixed coordinate system O-XY. In the initial state (t=0), the object S corresponds to the origin O of the fixed coordinate system O-XY. In the fixed coordinate system O-XY, the principal point A is expressed by the {right arrow over (R)}_(axy). The line segment length between the origin O and the principal point A of the camera is set as the scalar r_(axy), and the point where the origin O forms an image by the lens is set as an image forming point D. A point C is a center point of the image pickup device 203, and in the initial state (t=0), the imaging point D corresponds to the point C.

In the moving state diagram at a certain time (t=t2), the codes will be descried. The origin O₄ of the coordinate system O₄-X₄Y₄ is fixed to the principal point A, the coordinate axis X₄ is always kept parallel with the coordinate axis X, and the coordinate axis Y₄ is always kept parallel with the coordinate axis Y. The origin O₂ of the coordinate system O₂-X₂Y₂ is fixed to the principal point A, and the coordinate axis X₂ is always kept in the optical axis direction of the camera.

The accelerometer 121 is fixed to the point B inside the camera, and is expressed by {right arrow over (R)}_(baxy) in the coordinate system O₂-X₂Y₂. The length of a line segment AB is set as the scalar r_(baxy), and the angle rotated to the line segment AB from the coordinate axis X₂-axis with the origin O₂ as the center is set as θ_(baxy).

The image of the origin O forms an image at the position of a point D differing from the point C of the image pickup device center by the lens. The imaging point D with the principal point A as the reference is expressed by {right arrow over (R)}_(daxy). The point D with the point C as the reference is expressed by {right arrow over (R)}_(dcxy). A scalar r_(dxxy) which is the length from the point C to the point D is the length by which the image forming point D moves from the time t=0 to t2. The relative moving velocity vector of the image forming point D with respect to the point C in the moving coordinate system O₂-X₂Y₂ at a certain time t2 is set as {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎.

In the fixed coordinate system O-XY, the angle formed to the {right arrow over (R)}_(axy) from the coordinate axis X with the origin O as the center is set as a rotation angle θ_(axy). In the moving coordinate system O₄-X₄Y₄, the angle formed from the coordinate axis X₄ to the coordinate axis X₂ with the origin O₄ as the center is set as a revolution angle θ_(caxy).

The first order derivative of the {right arrow over (R)}_(axy) by the time t is described as {dot over ({right arrow over (R)}_(axy), and the second order derivative of the (vector) R_(axy) by the time t is described as {umlaut over ({right arrow over (R)}_(axy). The {right arrow over (R)}_(caxy) is similarly described as {dot over ({right arrow over (R)}_(caxy) and {umlaut over ({right arrow over (R)}_(caxy), the {right arrow over (R)}_(daxy) is similarly described as a {dot over ({right arrow over (R)}_(daxy) and {umlaut over ({right arrow over (R)}_(daxy), the revolution angle θ_(axy) is similarly described as {dot over (θ)}_(axy) and {umlaut over (θ)}_(axy), and the rotation angle θ_(caxy) similarly described as {dot over (θ)}_(caxy) and {umlaut over (θ)}_(caxy).

At a certain time t2, a relative moving velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ of the imaging point D with the point C as the reference in the moving coordinate system O₂-X₂Y₂ is obtained. A moving velocity {right arrow over (V)}_(daxy(O-XY)) at the imaging point D in the fixed coordinate system O-XY is obtained by the following expression (5).

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{V}}_{{daxy}{({O - {XY}})}} = {\overset{\rightarrow}{\overset{.}{R}}}_{{daxy}{({O - {XY}})}}} \\ {= {{{\overset{.}{r}}_{daxy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{daxy}{\overset{.}{\theta}}_{daxy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}}}} \\ {= {{{\overset{.}{r}}_{daxy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{daxy}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}}}} \\ {{\because{\overset{.}{\theta}}_{daxy}} = {\overset{.}{\theta}}_{axy}} \end{matrix} & (5) \end{matrix}$

The moving velocity {right arrow over (V)}_(caxy(O-XY)) of the image pickup device center C in the fixed coordinate system O-XY is obtained by the following expression (6).

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{V}}_{{caxy}{({O - {XY}})}} = {\overset{\overset{\rightarrow}{.}}{R}}_{{caxy}{({O - {XY}})}}} \\ {= {{{\overset{.}{r}}_{caxy}{\mathbb{e}}^{{j\theta}_{caxy}}} + {r_{caxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{caxy} + \frac{\pi}{2}})}}}}} \\ {= {r_{caxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{caxy} + \frac{\pi}{2}})}}}} \\ {{\because{\overset{.}{r}}_{caxy}} = 0} \end{matrix} & (6) \end{matrix}$

Expression (7) is derived from the image formation formula of geometrical optics, 1/f=1/r _(axy)+1/r _(daxy)  (7), where f represents focal length of the optical system. Expression (7) is modified to obtain the following expression.

$r_{daxy} = \frac{{fr}_{axy}}{r_{axy} - f}$ ${\overset{.}{r}}_{daxy} = {f{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 1}{fr}_{axy}{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 2}}$

From the above expression, the relative moving velocity {right arrow over (V)}_(dcxy(O-XY)) of the imaging point D with respect to the point C in the fixed coordinate system O-XY is obtained from the following expression (8).

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{V}}_{dcxy} = {\overset{\overset{\rightarrow}{.}}{R}}_{dcxy}} \\ {= {{\overset{\rightarrow}{V}}_{dxy} - {\overset{\rightarrow}{V}}_{cxy}}} \\ {= {\left( {{\overset{\rightarrow}{V}}_{daxy} - {\overset{\rightarrow}{V}}_{axy}} \right) - \left( {{\overset{\rightarrow}{V}}_{caxy} + {\overset{\rightarrow}{V}}_{axy}} \right)}} \\ {= {{\overset{\rightarrow}{V}}_{daxy} - {\overset{\rightarrow}{V}}_{caxy}}} \\ {= {{{\overset{.}{r}}_{daxy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{daxy}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}} - {r_{caxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{caxy} + \frac{\pi}{2}})}}}}} \\ {= {{\left\lbrack {{f{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 1}} - {{fr}_{axy}{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 2}}} \right\rbrack{\mathbb{e}}^{{j\theta}_{axy}}} +}} \\ {{{{fr}_{axy}\left( {r_{axy} - f} \right)}^{- 1}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}} - {r_{caxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{caxy} + \frac{\pi}{2}})}}}} \end{matrix} & (8) \end{matrix}$

The relationship between the scalar r_(caxy) and the scalar r_(axy(t=0)) is obtained from the following expression (9).

$\begin{matrix} \begin{matrix} {r_{caxy} = r_{{daxy}{({t = 0})}}} \\ {= {{f \cdot {r_{axy}\left( {t = 0} \right)} \cdot \left( {r_{{axy}{({t = 0})}} - f} \right)^{- 1}} = {\left( {1 + \beta} \right)f}}} \end{matrix} & (9) \end{matrix}$

By substituting the above described expression, the relative moving velocity {right arrow over (V)}_(dcxy(O-XY)) in the fixed coordinate system O-XY is obtained by the following expression (10). {right arrow over (V)} _(dcxy(O-XY)) =[f{dot over (r)} _(axy)(r _(axy) −f)⁻¹ −fr _(axy) {dot over (r)} _(axy)(r _(axy) −f)⁻² ]e ^(jθ) ^(axy) +fr _(axy)(r _(axy) −f)⁻¹{dot over (θ)}_(axy) e ^(j(θ) ^(axy) ^(+π/2))−(1+β)f{dot over (θ)} _(caxy) e ^(j(θ) ^(caxy) ^(+π/2))  (10)

Next, the coordinate is converted from the fixed coordinate system O-XY into the moving coordinate system O₂-X₂Y₂ fixed onto the camera. For this, the {right arrow over (V)}_(dcxy(O-XY)) is rotated by the rotation angle (−θ_(caxy)). Therefore, the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-X₂Y₂ fixed onto the camera is obtained from the following expression (11).

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{V}}_{{dcxy}{({O_{2} - {X_{2}Y_{2}}})}} = {{\overset{\rightarrow}{V}}_{{dcxy}{({O_{2} - {X_{2}Y_{2}}})}}{\mathbb{e}}^{j{({- \theta_{caxy}})}}}} \\ {= {{\begin{bmatrix} {{f{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 1}} -} \\ {{fr}_{axy}{{\overset{.}{r}}_{axy}\left( {r_{axy} - f} \right)}^{- 2}} \end{bmatrix}{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy}})}}} +}} \\ {{{{fr}_{axy}\left( {r_{axy} - f} \right)}^{- 1}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2} - \theta_{caxy}})}}} -} \\ {\left( {1 + \beta} \right)f{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{caxy} + \frac{\pi}{2} - \theta_{caxy}})}}} \end{matrix} & (11) \end{matrix}$

When the expression is further organized, the aforementioned expression (12) is obtained. Since the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-X₂Y₂ is the relative image movement velocity with respect to the image pickup surface of the camera, the expression is a strict expression strictly expressing the movement of the image which is actually recorded as an image. In this strict expression, the imaginary part, namely, the coordinate axis Y₂ direction component is the image movement component in the vertical direction of the camera within the image pickup surface. Further, the real part of expression (12), namely, the coordinate axis X₂ direction component is the image movement component in the optical axis direction of the camera, and is a component by which a so-called blurred image occurs.

The shake of the camera supported by the hand of a photographer is considered to be a vibration movement with very small amplitude with a certain point in the space as the center, and therefore, the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-X₂Y₂ which is strictly obtained is transformed into an approximate expression under the following conditions.

The state at the certain time t2 is assumed to be the vibration in the vicinity of the initial state at the time t=0, and the following expression (13) is obtained. r _(axy)≈(1+β)f/β  (13) When transformed, obtaining r _(axy) −f≈f/β. ∵f·r _(axy)/(r _(axy) −f)=f·(1+β)(f/β)/(f/β)=f·(1+β).

If {dot over (r)}_(axy)≈0 and θ_(axy)+π/2−θ_(caxy)≈π/2 are substituted into {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎, the following expression (14) is derived.

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{V}}_{{dcxy}{({O_{2} - {X_{2}Y_{2}}})}} = {V_{{dcxy}{({O - {XY}})}}{\mathbb{e}}^{j{({- \theta_{caxy}})}}}} \\ {\approx \left\lbrack {{f \times 0 \times \left( {r_{axy} - f} \right)^{- 1}} - {{fr}_{axy} \times 0 \times \left( {r_{axy} - f} \right)^{- 2}}} \right\rbrack} \\ {{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy}})}} + {\left( {1 + \beta} \right)f{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{(\frac{\pi}{2})}}} - {\left( {1 + \beta} \right)f{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{(\frac{\pi}{2})}}}} \\ {\approx {{- \left( {1 + \beta} \right)}{f\left( {{\overset{.}{\theta}}_{caxy} - {\overset{.}{\theta}}_{axy}} \right)}{\mathbb{e}}^{j{(\frac{\pi}{2})}}}} \end{matrix} & (14) \end{matrix}$

Therefore, the approximate theoretical formula of the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-X₂Y₂ within the XY plane becomes the aforementioned expression (15). The component representing the direction of the image movement vector of the right side of expression (15) is e^(jπ/2), and therefore, the image movement direction is the Y₂-axis direction in the direction at 90 degrees from the X₂-axis. {dot over (θ)}_(caxy) represents the rotation angular velocity around the principal point A, and {umlaut over (θ)}_(axy) represents the revolution angular velocity of the principal point A around the origin O of the fixed coordinate system. β represents an imaging magnification of this optical system, and f represents the actual focal length. (1+β)f represents an image side focal length. Therefore, this approximate expression means that the image movement velocity in the Y₂ direction within the image pickup surface is −(image side focal length)×(value obtained by subtracting the revolution angular velocity from the rotation angular velocity).

With FIG. 14, the image movement theoretical formula of the present invention in the two-dimensional ZX coordinate system when the camera is projected onto the ZX plane will be described. When the shake is a very small vibration movement with the initial state position as the center, the approximate conditions are such that ζ_(azx)≈0, ζ_(cazx)≈0, r_(azx)≈constant value, {dot over (r)}_(azx)≈0 and {umlaut over (r)}_(azx)≈0. From the approximate conditions, the approximate theoretical formula of the image movement velocity {right arrow over (V)}_(dcxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ in the moving coordinate system O₂-Z₂X₂ within the ZY plane is as the following expression (16) by the procedure similar to the approximate formula V_(dcxy(O2-X2Y2)) in the XY plane. {right arrow over (V)} _(dczx(O) ₂ _(-Z) ₂ _(Y) ₂ ₎≈−(1+β)f({dot over (ζ)}_(cazx)−{dot over (ζ)}_(azx))e ^(jπ/2)  (16)

The component representing the direction of the image blur vector of the right side of expression (16) is e^(jπ/2), and therefore, the image movement direction is the Z₂-axis direction in the direction at 90 degrees from the X₂-axis. {dot over (ζ)}_(cazx) represents a rotation angular velocity around the principal point A, and {dot over (ζ)}_(azx) represents a revolution angular velocity of the principal point A around origin O of the fixed coordinate system. β represents the imaging magnification of this optical system, and f represents the actual focal length. (1+β)f represents the image side focal length. Therefore, the approximate formula means that the image movement velocity in the X₂ direction within the image pickup device surface is −(the image side focal length)×(value obtained by subtracting the revolution angular velocity from the rotation angular velocity).

The output signal of the accelerometer 121 will be also described. In the XY coordinate plane, the revolution angular velocity at the principal point A can be expressed as follows. {dot over (θ)}_(axy)=∫(acceleration component orthogonal to the line segment r _(axy) at the point A)dt/r _(axy) Therefore, the acceleration vector {umlaut over ({right arrow over (R)}_(a) can be measured and calculated. In this embodiment, the accelerometer 121 is fixed to the point B, and therefore, the acceleration value at the point A needs to be obtained by calculation based on the output of the accelerometer at the point B. Here, the difference value between the acceleration at the point B and that principal point A where the accelerometer is actually disposed, and the theoretical acceleration value at the point B are obtained. Subsequently, the component (term) which is unnecessary in image stabilization control is clarified.

First, an acceleration vector {umlaut over ({right arrow over (R)}_(a(O-XY)) which occurs at the principal point A in the fixed coordinate system O-XY is obtained from the following expression (17).

$\begin{matrix} {{\overset{\rightarrow}{\overset{¨}{R}}}_{a{({O - {XY}})}} = {{{\overset{¨}{r}}_{axy}{{\mathbb{e}}^{{j\theta}_{axy}}\left( {{first}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{component}\mspace{14mu}{of}\mspace{14mu} a\mspace{14mu}{change}\mspace{14mu}{in}\mspace{14mu}{length}\mspace{14mu} r_{a}} \right)}}\; + {r_{axy}{\overset{.}{\theta}}_{axy}^{2}{{\mathbb{e}}^{j{({\theta_{axy} + \pi})}}\left( {{second}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}} \right)}} + {r_{axy}{\overset{¨}{\theta}}_{axy}{{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}\left( {{third}\mspace{14mu}{term}\text{:}\mspace{14mu}{angular}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right)}} + {2{\overset{.}{r}}_{axy}{\overset{.}{\theta}}_{axy}{{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}\left( {{fourth}\mspace{14mu}{term}\text{:}\mspace{14mu}{Coriolis}\mspace{14mu}{force}\mspace{14mu}{component}} \right)}} + {G\;{{\mathbb{e}}^{j{({\theta_{gxy} - \pi})}}\left( {{acceleration}\mspace{14mu}{component}\mspace{14mu}{of}\mspace{14mu}{the}\mspace{11mu}{gravity}\mspace{14mu} G} \right)}}}} & (17) \end{matrix}$

(Here, the gravity G works onto the accelerometer 121 as a reaction force, and therefore, 180 degrees is subtracted from the angle θ_(gxy) representing the gravity direction.)

A relative acceleration {umlaut over ({right arrow over (R)}_(baxy(O-XY)) at the point B with respect to the principal point A in the fixed coordinate system O-XY will be obtained. First, a relative position {right arrow over (R)}_(baxy(O-XY)) is obtained from the following expression (18). {right arrow over (R)} _(baxy(O-XY)) =r _(ba) e ^(j(θ) ^(ba) ^(+θ) ^(ca) ⁾  (18)

If the first order derivative of expression (18) is performed by the time t, the velocity vector can be obtained. Since the points A and B are fixed to the same rigid body, a relative velocity {dot over ({right arrow over (R)}_(baxy(O-XY)) is obtained from the following expression (19) from r_(baxy)=constant value, {dot over (r)}_(baxy)=0, θ_(baxy)=constant value, {dot over (θ)}_(baxy)=0, and {dot over (θ)}_(caxy)=rotation component (variable).

$\begin{matrix} \begin{matrix} {{\overset{\overset{\rightarrow}{.}}{R}}_{{baxy}{({O - {XY}})}} = {{{\overset{.}{r}}_{baxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy}})}}} + {{r_{baxy}\left( {{\overset{.}{\theta}}_{baxy} + {{\overset{.}{\theta}}_{caxy}\theta}} \right)}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}}}} \\ {= {{(0){\mathbb{e}}^{{j\theta}_{baxy}}} + {{r_{baxy}\left( {0 + {\overset{.}{\theta}}_{caxy}} \right)}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}}}} \\ {= {r_{baxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}}} \end{matrix} & (19) \end{matrix}$

Next, the acceleration vector is obtained. The relative acceleration {umlaut over ({right arrow over (R)}_(baxy(O-XY)) at the point B (accelerometer position) with respect to the point A in the fixed coordinate system O-XY is obtained from the following expression (20).

$\begin{matrix} {\begin{matrix} {{\overset{\overset{\rightarrow}{¨}}{R}}_{{baxy}{({O - {XY}})}} = {{{\overset{¨}{r}}_{baxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy}})}}} + {r_{baxy}\left( {{\overset{.}{\theta}}_{baxy} + {\overset{.}{\theta}}_{caxy}} \right)}^{2}}} \\ {{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \pi})}} + {{r_{baxy}\left( {{\overset{¨}{\theta}}_{baxy} + {\overset{¨}{\theta}}_{caxy}} \right)}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} +} \\ {2\;{{\overset{.}{r}}_{baxy}\left( {{\overset{.}{\theta}}_{baxy} + {\overset{.}{\theta}}_{caxy}} \right)}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} \\ {= {{0 \times {\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy}})}}} + {{r_{baxy}\left( {0 + {\overset{.}{\theta}}_{caxy}} \right)}^{2}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \pi})}}} +}} \\ {{{r_{baxy}\left( {0 + {\overset{¨}{\theta}}_{caxy}} \right)}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} +} \\ {2 \times 0 \times \left( {0 + {\overset{.}{\theta}}_{caxy}} \right){\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} \\ {= {{{r_{baxy}\left( {\overset{.}{\theta}}_{caxy} \right)}^{2}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \pi})}}} + {r_{baxy}\left( {\overset{¨}{\theta}}_{caxy} \right)}^{2}}} \\ {{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} \end{matrix}\mspace{79mu}\left( {= {{{centripetal}\mspace{14mu}{force}} + {{angular}\mspace{11mu}{acceleration}\mspace{14mu}{amount}}}} \right)} & (20) \end{matrix}$

The expression value is the movement vector error amount due to the fact that the accelerometer 121 is actually mounted at the position B with respect to the principal point A which is an ideal position.

An acceleration vector {umlaut over ({right arrow over (R)}_(bxy(O-XY)) at the point B in the fixed coordinate system O-XY is expressed by the sum of the vectors from the origin O to the principal point A already obtained and from the principal point A to the point B. First, the position vector {right arrow over (R)}_(bxy(O-XY)) at the point B in the fixed coordinate system O-XY is expressed by way of the principal point A by the following expression (21).

Position vector:

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{R}}_{{bxy}{({O - {XY}})}} = {r_{bxy}{\mathbb{e}}^{{j\theta}_{bxy}}}} \\ {= {{\overset{\rightarrow}{R}}_{axy} + {\overset{\rightarrow}{R}}_{baxy}}} \\ {= {{r_{axy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{baxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy}})}}}}} \end{matrix} & (21) \end{matrix}$

Velocity vector:

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{\overset{.}{R}}}_{{bxy}{({O - {XY}})}} = {{{\overset{.}{r}}_{bxy}{\mathbb{e}}^{{j\theta}_{bxy}}} + {r_{bxy}{\overset{.}{\theta}}_{bxy}{\mathbb{e}}^{j{({\theta_{bxy} + \frac{\pi}{2}})}}}}} \\ {= {{\overset{\rightarrow}{\overset{.}{R}}}_{axy} + {\overset{\rightarrow}{\overset{.}{R}}}_{baxy}}} \\ {= {{{\overset{.}{r}}_{axy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{axy}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}} + {r_{baxy}{\overset{.}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}}}} \end{matrix} & (22) \end{matrix}$

Acceleration vector:

$\begin{matrix} \begin{matrix} {{\overset{\rightarrow}{\overset{¨}{R}}}_{{bxy}{({O - {XY}})}} = {{\overset{\rightarrow}{\overset{¨}{R}}}_{axy} + {\overset{\rightarrow}{\overset{¨}{R}}}_{baxy}}} \\ {= {{{\overset{¨}{r}}_{axy}{\mathbb{e}}^{{j\theta}_{axy}}} + {r_{axy}{\overset{.}{\theta}}_{axy}^{2}{\mathbb{e}}^{j{({\theta_{axy} + \pi})}}} + {r_{axy}{\overset{¨}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}} +}} \\ {{2{\overset{.}{r}}_{axy}{\overset{.}{\theta}}_{axy}{\mathbb{e}}^{j{({\theta_{axy} + \frac{\pi}{2}})}}} + {r_{baxy}{\overset{.}{\theta}}_{caxy}^{2}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \pi})}}} +} \\ {{r_{baxy}{\overset{¨}{\theta}}_{caxy}{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} + \frac{\pi}{2}})}}} + {Ge}^{j{({\theta_{gxy} - \pi})}}} \end{matrix} & (23) \end{matrix}$

Next, an acceleration {umlaut over ({right arrow over (R)}_(bxy(O) ₂ _(-X) ₂ _(Y) ₂ ₎ at the point B in the moving coordinate system O₂-X₂Y₂ will be calculated. The latitude (scalar) of the acceleration desired to be calculated is in the fixed coordinate system O-XYZ where the object is present. Further, the acceleration is fixed to the moving coordinate system O₂-X₂Y₂, the three axes of the accelerometer 121 are oriented in the X₂-axis direction, the Y₂-axis direction and the Z₂-axis direction, and the acceleration component needs to be expressed by the coordinate axis directions of the moving coordinate system O₂-X₂Y₂Z₂.

The disposition state of the accelerometer 121 will be described in detail. The accelerometer 121 of three-axis outputs is disposed at the point B. In the moving coordinate system O₂-X₂Y₂Z₂, the axes of the accelerometer are set to an accelerometer output A_(ccx2) with the sensitivity direction in the direction parallel with the X₂-axis, an accelerometer output A_(ccy2) with the sensitivity direction in the direction parallel with the Y₂-axis, and an accelerometer output A_(ccz2) with the sensitivity direction in the direction parallel with the Z₂-axis. Since the movement in the XY plane is described here, the accelerometer output A_(ccx2) and the accelerometer output A_(ccy2) will be described.

In order to obtain the acceleration {umlaut over ({right arrow over (R)}_(bxy(O-X) ₂ _(Y) ₂ ₎ by converting the acceleration {umlaut over ({right arrow over (R)}_(bxy(O-XY)) at the point B in the fixed coordinate system O-XY obtained in the above into the components in the X₂-axis and Y₂-axis direction with the origin O as it is, the coordinate conversion may be performed in the direction opposite to the rotation angle θ_(caxy) of the camera. Therefore, the following expression (24) is established.

Accelerometer output:

$\begin{matrix} {{\overset{\rightarrow}{A}}_{{cc}{({O - {X_{2}Y_{2}}})}} = {{{\overset{\rightarrow}{\overset{¨}{R}}}_{{bxy}{({O - {XY}})}}{\mathbb{e}}^{j{({- \theta_{caxy}})}}} = {{{\overset{¨}{r}}_{axy}{{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy}})}}\left( {{first}\mspace{14mu}{term}\text{:}\mspace{14mu}{optical}\mspace{14mu}{axis}\mspace{14mu}{direction}\mspace{20mu}{movement}} \right)}} + {r_{axy}{\overset{.}{\theta}}_{axy}^{2}{{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy} + \pi})}}\left( {{second}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {r_{axy}{\overset{¨}{\theta}}_{axy}{{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy} + \frac{\pi}{2}})}}\left( {{third}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {2{\overset{.}{r}}_{axy}{\overset{.}{\theta}}_{axy}{{\mathbb{e}}^{j{({\theta_{axy} - \theta_{caxy} + \frac{\pi}{2}})}}\left( {{fourth}\mspace{14mu}{term}\text{:}\mspace{14mu}{Coriolis}\mspace{14mu}{force}} \right)}} + {r_{baxy}{\overset{.}{\theta}}_{caxy}^{2}{{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} - \theta_{caxy} + \pi})}}\left( {{fifth}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)}} + {r_{baxy}{\overset{¨}{\theta}}_{caxy}{{\mathbb{e}}^{j{({\theta_{baxy} + \theta_{caxy} - \theta_{caxy} + \frac{\pi}{2}})}}\left( {{sixth}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)}} + {{Ge}^{j{({\theta_{gxy} - \pi - \theta_{caxy}})}}\left( {{seventh}\mspace{14mu}{term}\text{:}\mspace{14mu}{gravity}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right)}}}} & (24) \end{matrix}$

The approximate formula is obtained by substituting the approximate conditions. Restriction conditions are given such that the revolution angular velocity {dot over (θ)}_(axy) and the rotation angular velocity {dot over (θ)}_(caxy) are very small vibration (±) around 0 so that θ_(axy)≈0 and θ_(caxy)≈0. Further, it is assumed that the scalar r_(axy) changes very slightly so that {dot over (r)}_(axy)=finite value, {umlaut over (r)}_(axy)=finite value, θ_(baxy) substantially satisfies π/2−π/4≦θ_(baxy)≦π/2+π/4.

Accelerometer output:

$\begin{matrix} {{\overset{\rightarrow}{A}}_{{cc}{({O - {X_{2}Y_{2}}})}} = {{{\overset{\rightarrow}{\overset{¨}{R}}}_{{bxy}{({O - {XY}})}}{\mathbb{e}}^{j{({- \theta_{caxy}})}}} \approx {{{\overset{¨}{r}}_{axy}{{\mathbb{e}}^{j{({0 - 0})}}\left( {{first}\mspace{14mu}{term}\text{:}\mspace{14mu}{optical}\mspace{14mu}{axis}\mspace{14mu}{direction}\mspace{20mu}{movement}} \right)}} + {r_{axy}{\overset{.}{\theta}}_{axy}^{2}{{\mathbb{e}}^{j{({0 - 0 + \pi})}}\left( {{second}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {r_{axy}{\overset{¨}{\theta}}_{axy}{{\mathbb{e}}^{j{({0 - 0 + \frac{\pi}{2}})}}\left( {{third}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {2{\overset{.}{r}}_{axy}{\overset{.}{\theta}}_{axy}{{\mathbb{e}}^{j{({0 - 0 + \frac{\pi}{2}})}}\left( {{fourth}\mspace{14mu}{term}\text{:}\mspace{14mu}{Coriolis}\mspace{14mu}{force}} \right)}} + {r_{baxy}{\overset{.}{\theta}}_{caxy}^{2}{{\mathbb{e}}^{j{({\theta_{baxy} + 0 + \pi})}}\left( {{fifth}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {r_{baxy}{\overset{¨}{\theta}}_{caxy}{{\mathbb{e}}^{j{({\theta_{baxy} + 0 + \frac{\pi}{2}})}}\left( {{sixth}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)}} + {{Ge}^{j{({\theta_{gxy} - \pi - 0})}}\left( {{seventh}\mspace{14mu}{term}\text{:}\mspace{14mu}{gravity}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right)}}}} & (25) \end{matrix}$

This real part is the accelerometer output A_(ccx2) in the X₂-axis direction, and the imaginary part is the accelerometer output A_(ccy2) in the Y₂-axis direction. The above described polar coordinate system representation is decomposed into the X₂ component and the Y₂ component in the orthogonal coordinate system representation.

Accelerometer output in the X₂-axis direction:

$\begin{matrix} {{\overset{\rightarrow}{A}}_{{ccx}_{2}{({O - {X_{2}Y_{2}}})}} \approx {{{+ {\overset{¨}{r}}_{axy}}\;\left( {{first}\mspace{14mu}{term}\text{:}\mspace{14mu}{optical}\mspace{14mu}{axis}\mspace{14mu}{direction}\mspace{14mu}{movement}} \right)}\mspace{14mu} - {r_{axy}{{\overset{.}{\theta}}_{axy}^{2}\left( {{second}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {r_{baxy}{\overset{.}{\theta}}_{caxy}^{2}{\cos\left( {\theta_{baxy} + \pi} \right)}\;\left( {{fifth}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {r_{baxy}{\overset{¨}{\theta}}_{caxy}^{2}{\cos\left( {\theta_{baxy} + \frac{\pi}{2}} \right)}\left( {{sixth}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {G\mspace{11mu}{\cos\left( {\theta_{gxy} - \pi} \right)}\;\left( {{seventh}\mspace{14mu}{term}\text{:}\mspace{14mu}{gravity}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right)}}} & (26) \end{matrix}$

In expression (26), only the first term {umlaut over (r)}_(axy) is needed for optical axis direction movement correction. The second term, the fifth term, the sixth term and the seventh term are components unnecessary for the optical axis direction movement correction, and unless they are erased, they become the error components when the acceleration {umlaut over (r)}_(axy) in the direction of the X₂-axis which is the optical axis is obtained. The second, the fifth, the sixth and the seventh terms can be erased by the similar method as the case of the next expression (27).

In order to delete the second term (centripetal force of revolution), the values of r_(axy) and {dot over (θ)}_(axy) are included in the second term need to be obtained. r_(axy) is substantially equal to the object side focal length (1+β)f/β (where β represents an imaging magnification). The image pickup apparatus in recent years is equipped with the focus encoder which measures the moving position of the autofocus lens 140. Therefore, it is easy to calculate the object distance from the output value of the focus encoder, in the focus state. As a result, r_(axy) is obtained. The value obtained from the next expression (27) is used as the revolution angular velocity {dot over (θ)}_(axy).

Accelerometer output in the Y₂-axis direction:

$\begin{matrix} {{\overset{\rightarrow}{A}}_{{ccy}_{2}{({O - {X_{2}Y_{2}}})}} \approx {{{+ {jr}_{axy}}{{\overset{¨}{\theta}}_{axy}\left( {{third}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{revolution}} \right)}} + {j\; 2\;{\overset{.}{r}}_{axy}{{\overset{.}{\theta}}_{axy}\left( {{fourth}\mspace{14mu}{term}\text{:}\mspace{14mu}{Coriolis}\mspace{14mu}{force}} \right)}} + {{jr}_{baxy}{\overset{.}{\theta}}_{caxy}^{2}{\sin\left( {\theta_{baxy} + \pi} \right)}\left( {{fifth}\mspace{14mu}{term}\text{:}\mspace{14mu}{centripetal}\mspace{14mu}{force}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {{jr}_{baxy}{\overset{¨}{\theta}}_{caxy}{\sin\left( {\theta_{baxy} + \frac{\pi}{2}} \right)}\left( {{sixth}\mspace{14mu}{term}\text{:}\mspace{14mu}{acceleration}\mspace{14mu}{of}\mspace{14mu}{rotation}} \right)} + {{jG}\;{\sin\left( {\theta_{gxy} - \pi} \right)}\left( {{seventh}\mspace{14mu}{term}\text{:}\mspace{11mu}{gravity}\mspace{14mu}{acceleration}\mspace{14mu}{component}} \right)}}} & (27) \end{matrix}$

The respective terms of the accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction will be described. The third term jr_(axy){umlaut over (θ)}_(axy) is the component necessary for obtaining the revolution angular velocity {dot over (θ)}_(axy) desired to be obtained in the present embodiment, and the revolution angular velocity {dot over (θ)}_(axy) is obtained by dividing the third term with the known r_(axy) and integrating the result. The fourth term j2{dot over (r)}_(axy){dot over (θ)}_(axy) represents a Coriolis force. If the movement of the camera in the optical axis direction is small, {dot over (r)}_(axy)≈0 is established, and the fourth term can be ignored. The fifth term and the sixth term are the error components which are included in the accelerometer output A_(ccy2(O-X2Y2)) since the accelerometer 121 cannot be disposed at the ideal principal point position A and is disposed at the point B.

The fifth term jr_(baxy){dot over (θ)}_(caxy) ² sin(θ_(baxy)+π) represents the centripetal force which occurs since the accelerometer 121 rotates around the principal point A. r_(baxy) and θ_(baxy) are the coordinates of the point B at which the accelerometer 121 is mounted, and are known. {dot over (θ)}_(caxy) represents the rotation angular velocity, and is the value which can be measured with the angular velocity sensor 130 mounted on the camera. Therefore, the value of the fifth term can be calculated.

The sixth term jr_(baxy){umlaut over (θ)}_(caxy) sin(θ_(baxy)π/2) represents the acceleration component when the accelerometer 121 rotates around the principal point A, and r_(baxy) and θ_(baxy) are the coordinates of the point B at which the accelerometer 121 is mounted, and are known. {umlaut over (θ)}_(caxy) can be calculated by differentiating the value of the angular velocity sensor 130 mounted on the camera. Therefore, the value of the sixth term can be calculated.

The seventh term jG sin(θ_(gxy)−π) is the influence of the gravity acceleration, and can be dealt as a constant in the approximate formula, and therefore, can be erased by filtering processing of a circuit.

As described above, the accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction includes unnecessary components for revolution angular velocity {dot over (θ)}_(axy) which is desired to be obtained in the present invention. However, it has become clear that the unnecessary component can be subtracted by calculation according to the output of the angular velocity sensor 130 disposed at the camera and the mounting position information of the accelerometer 121 with respect to the principal point A, and the necessary revolution angular velocity {dot over (θ)}_(axy) can be obtained.

Similarly, from the accelerometer output A_(ccx2(O-X2Y2)) in the X₂ direction, the movement velocity {dot over (r)}_(axy) in the substantially optical axis direction of the camera is desired to be calculated. The first term {umlaut over (r)}_(axy) corresponds to the optical axis direction movement acceleration. The second term, the fifth term, the sixth term and the seventh term can be erased for the same reason as described with the accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction. Therefore, the movement velocity {dot over (r)}_(axy) substantially in the optical axis direction of the camera can be obtained from the accelerometer output A_(ccx2(O-X2Y2)) in the X₂ direction.

The above described content will be concretely described with reference to FIG. 15. FIG. 15 illustrates a diagram of a lens barrel illustrating a change of the principal position of the shooting optical system 105 corresponding to the change of the imaging magnification. With a change of the imaging magnification β of the shooting optical system 105 incorporated in the lens barrel 102, the principal point A of the shooting optical system 105 moves from A1 when the image magnification is equal-magnification (as the time of proximity shooting) to A2 at the time of infinity shooting (β=0.0). Here, the accelerometer 121 is disposed at a position in the lens barrel 102 which corresponds to the principal point position A1 when the image magnification is the equal-magnification in terms of the optical axis direction. In this state, shooting is performed with the imaging magnification β=0.5. The distance in the optical direction between the principal position A3 of the shooting optical system 105 at the time of shooting and the accelerometer 121 becomes larger by ΔX as compared with the principal point position A1 at the time of equal-magnification, and therefore, the distance between the principal point of the shooting optical system 105 and the accelerometer 121 changes to r_(A1A3) (=r_(baxy) in expression (27)) from ΔY (ΔY<r_(A1A3)). The error components, which are the fifth term and the sixth term in expression (27), change correspondingly to the change. If this change amount is left as it is, the revolution angular velocity {dot over (θ)}_(axy) is calculated with the error components of the fifth term and the sixth term left in the revolution angular velocity {dot over (θ)}_(axy) which is desired to be obtained in the present invention, and therefore, accurate blur correction cannot be made. Therefore, as described in the present invention, the unnecessary terms need to be removed from the output of the accelerometer 121 based on the output of the accelerometer 121 and the position of the principal point A (or the imaging magnification β) of the shooting optical system 105.

When the user is to perform shooting with the imaging magnification β=0.9 in FIG. 15, for example, if the principal point position hardly moves from A1, θ_(baxy)≈π/2 is satisfied, and therefore, sin(θ_(baxy)+π/2) in the sixth term of expression (27) is such that sin(θ_(baxy)+π/2)≈sin(π). Therefore, the sixth term can be regarded as zero. More specifically, the sixth term does not have to be considered as an error component. In such a case, according to the result of the imaging magnification β calculated in flowchart S1050 illustrated in FIGS. 3A and 3B, only the fifth term is calculated and is subtracted from the accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction at the time of removal of the error component of expression (27) which is performed in S1090, whereby the necessary revolution angular velocity {dot over (θ)}_(axy) can be obtained. Thereby, the calculating time for blur correction can be shortened, and therefore, more accurate blur correction can be performed.

Apart from this, when the angular blur is small, {dot over (θ)}_(caxy) ² in the fifth term jr_(baxy){dot over (θ)}_(caxy) ² sin(θ_(baxy)+π) becomes substantially zero, and therefore, the fifth term can be regarded as zero. More specifically, the fifth term does not have to be considered as an error component. Therefore, according to the output result of the angular velocity sensor 130, it can be determined whether the fifth term needs to be subtracted as an error component. In such a case, according to the output value of the angular velocity sensor 130 which is read in S1060 of the flowchart illustrated in FIGS. 3A and 3B, only the sixth term is calculated, and subtracted from the accelerometer output A_(ccy2(O-X2Y2)) in the Y₂-axis direction at the time of removal of the error component of expression (27) which is performed in S1090, whereby the necessary revolution angular velocity {dot over (θ)}_(axy) be obtained. Thereby, the calculating time of blur correction can be shortened, and therefore, more accurate blur correction can be performed.

Here, in order to verify the effect of the present invention, the experiment as follows was performed. First, at the time of shooting an object, the actual movement amount is measured with a laser displacement meter. The movement correction amount is calculated by using the outputs of the accelerometer 121 and the angular velocity sensor 131 at that time, and the difference (called a residual movement) from the actual movement amount is obtained.

At this time, to what extent the difference occurs to the residual movement amount depending on the presence or absence of removal of the aforementioned unnecessary terms from the output of the accelerometer 121 was confirmed. The result of the simulation is illustrated in FIG. 16. In FIG. 16, the broken line represents the actual movement amount, the solid line represents the residual movement amount in the case of performing movement correction by removing the unnecessary terms from the output of the accelerometer 121 (hereinafter, called “correcting the output”), and the two-dot chain line represents the residual movement amount in the case of performing movement correction without removing the unnecessary terms from the output of the accelerometer 121 (hereinafter, called “without correcting the output”). The axis of ordinates represents displacement, and the axis of abscissa represents a shutter speed in shooting.

As is obvious from FIG. 16, when the output of the accelerometer 121 is not corrected, only about 25% of the actual movement amount can be corrected, for example, when the shutter speed is 1/20 sec, whereas when the output of the accelerometer 121 is corrected, about 55% of the actual movement amount can be corrected when the shutter speed is 1/20 sec. More specifically, it can be confirmed that by correcting the output of the accelerometer 121 according to the change of the principal point position of the shooting optical system 105, the movement correction effect is enhanced.

In embodiment 1, when the ratio of the revolution angular velocity to the rotation angular velocity is 0.1 or less, the revolution angular velocity is sufficiently small with respect to the rotation angular velocity, and therefore, the image stabilization calculation is simplified by performing only rotation movement correction, which leads to enhancement in speed, and reduction in power consumption.

Further, when exposure of shooting is started by fully depressing the release button not illustrated, the revolution angular velocity in real time is estimated by multiplying the ratio of the revolution angular velocity to the past rotation angular velocity by the rotation angular velocity in real time. Thereby, even if the output of the accelerometer 121 is disturbed by shutter shock and operation vibration of the camera at the time of shooting, use of a revolution acceleration value which is significantly erroneous can be prevented, and stable image blur correction is enabled.

Further, an angular movement and a parallel movement are newly and strictly modeled and expressed mathematically to be a rotation movement and a revolution movement, and thereby, whatever state the two movement component states may be, accurate image stabilization without a control failure can be performed. Further, the relative positional information between the principal point position of the shooting optical system and the accelerometer is calculated, and the error component with respect to the blur correction is removed. Therefore, accurate image stabilization corresponding to the change of the principal point position of the shooting optical system can be performed. Further, the error component of the blur correction is removed from the stored value of the relative positional information of the principal point position of the shooting optical system and the accelerometer, and therefore, accurate image stabilization corresponding to the change of the principal point position of the shooting optical system can be performed while the calculation processing amount is reduced. Further, image stabilization is performed based on the difference between the rotation angular velocity and the revolution angular velocity, and therefore, the calculation processing amount after difference calculation can be reduced. Further, the units of the rotation movement and the revolution movement are the same (for example: rad/sec), and therefore, calculation becomes easy. Further, the image movement in the image pickup surface of the image pickup device, and the optical axis direction movement can be represented by the same expression, and therefore, image movement correction calculation and the optical axis direction movement correction calculation can be performed at the same time.

Embodiment 2

By using FIGS. 17A and 17B, embodiment 2 will be described. The same flow as in FIGS. 3A and 3B according to embodiment 1 is included. Therefore, the same reference numerals and characters are used for the same flow, and the description will be omitted.

After revolution angular velocity calculation of S1100 in FIGS. 17A and 17B, the flow proceeds to S2610. In S2610, it is determined whether the imaging magnification of shooting is 0.2 or more (predetermined value or more). In the case of the imaging magnification being 0.2 or more, the flow proceeds to S2620, and in the case of the imaging magnification being less than 0.2 (less than the predetermined value), the flow proceeds to S1130. In S1130, rotation movement correction calculation is performed as in embodiment 1.

In S2620, it is determined whether or not the revolution angular velocity with respect to the rotation angular velocity is between −0.9 and +0.9 (within ranges between predetermined values). If it is within ±0.9, the flow proceeds to S1120. When it is less than −0.9 or exceeds +0.9, the flow proceeds to S2630.

In S2630, the angular velocity ratio is fixed (stored) to the constant (specified constant) of 0.9, and in the next S2640, estimation of the present revolution angular velocity is calculated by multiplying the rotation angular velocity obtained in real time by the fixed angular velocity ratio of 0.9, and the flow proceeds to the next S1120. In S1120, the rotation revolution difference movement correction calculation is performed as in embodiment 1.

In embodiment 2, when the imaging magnification is less than 0.2, the revolution angular velocity is sufficiently small with respect to the rotation angular velocity, and therefore, the image stabilization calculation is simplified by only performing rotation movement correction, which leads to enhancement in speed and reduction in power consumption. Further, the ratio of the revolution angular velocity to the rotation angular velocity rarely exceeds one, and when the ratio exceeds ±0.9, the ratio is fixed to the constant 0.9, whereby erroneous excessive correction is prevented.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

This application claims the benefit of Japanese Patent Application No. 2009-139171, filed on Jun. 10, 2009, which is hereby incorporated by reference herein in its entirety. 

1. An image stabilization apparatus, comprising: a shooting optical system that shoots an object, in which a principal point of the shooting optical system moves in an optical axis direction of the shooting optical system; an angular velocity detector that detects an angular velocity applied to the image stabilization apparatus and outputs the angular velocity; an acceleration detector that detects an acceleration applied to the image stabilization apparatus and outputs the acceleration; a calculation unit that calculates a position of a principal point of the shooting optical system; a first angular velocity calculation unit that calculates a first angular velocity component about the position of the principal point based on an output of the angular velocity detector; a second angular velocity calculation unit that calculates a second angular velocity component based on an output of the acceleration detector, a calculation result of the first angular velocity calculation unit, and the position of the principal point; and a controlling unit that performs image stabilization control based on a difference between the first angular velocity component and the second angular velocity component.
 2. The image stabilization apparatus according to claim 1, further comprising an angular velocity ratio calculation unit that calculates an angular velocity ratio of the second angular velocity component which is corrected to the first angular velocity component, wherein the controlling unit performs image stabilization control based on a difference between the first angular velocity component and the second angular velocity component when the angular velocity ratio is larger than a predetermined value, and performs image stabilization control based on the first angular velocity component when the angular velocity ratio is the predetermined value or less.
 3. An image pickup apparatus, comprising the image stabilization apparatus according to claim
 1. 4. An image stabilization apparatus, comprising: a shooting optical system that shoots an object; an angular velocity detector that detects an angular velocity applied to the image stabilization apparatus and outputs the angular velocity; an acceleration detector that detects an acceleration applied to the image stabilization apparatus and outputs the acceleration; a principal point calculation unit that calculates a position of a principal point of the shooting optical system; a rotation angular velocity calculation unit that calculates a rotation angular velocity component about the principal point of the shooting optical system based on an output of the angular velocity detector; a revolution angular velocity calculation unit that calculates a revolution angular velocity component about the object based on the output of the acceleration detector and a calculation result of the rotation angular velocity calculation unit, and corrects the calculated revolution angular velocity component according to the position of the principal point calculated by the principal point calculation unit; and a controlling unit that performs image stabilization control based on a difference between the rotation angular velocity component and the revolution angular velocity component which is corrected.
 5. The image stabilization apparatus according to claim 4, further comprising: a memory unit that stores a correction value by which the revolution angular velocity component is corrected according to the position of the principal point calculated by the principal point calculation unit.
 6. The image stabilization apparatus according to claim 4, further comprising: a memory unit that stores a correction formula for correcting the revolution angular velocity component according to the position of the principal point calculated by the principal point calculation unit.
 7. The image stabilization apparatus according to claim 5, wherein the memory unit stores relative positional information of the position of the principal point of the shooting optical system and the acceleration detector.
 8. The image stabilization apparatus according to claim 7, wherein the calculated revolution angular velocity component is corrected by at least any one of a first correction component calculated by a relative position calculated from the relative positional information and the rotation angular velocity component, and a second correction component calculated from the relative position calculated from the relative positional information and a derivative value of the rotation angular velocity component.
 9. The image stabilization apparatus according to claim 4, further comprising a rotation revolution difference calculation unit that calculates a rotation revolution difference value based on the difference between the rotation angular velocity component and the corrected revolution angular velocity component, wherein the controlling unit performs image stabilization control based on the rotation revolution difference value.
 10. The image stabilization apparatus according to claim 4, further comprising a rotation revolution angular velocity ratio calculation unit that calculates a rotation revolution angular velocity ratio of the corrected revolution angular velocity component to the rotation angular velocity component, wherein the revolution angular velocity calculation unit calculates estimation of the revolution angular velocity component by a product of a rotation angular velocity component calculated in real time and the rotation revolution angular velocity ratio calculated by the rotation revolution angular velocity ratio calculation unit.
 11. The image stabilization apparatus according to claim 10, wherein the rotation revolution angular velocity ratio calculation unit sets the rotation revolution angular velocity ratio to be a specified constant when the rotation revolution angular velocity ratio exceeds a predetermined value.
 12. The image stabilization apparatus according to claim 10, wherein the controlling unit performs image stabilization control based on the rotation revolution difference value when the rotation revolution angular velocity ratio is larger than a predetermined value, and performs image stabilization control based on the rotation angular velocity component when the rotation revolution angular velocity ratio is the predetermined value or less.
 13. The image stabilization apparatus according to claim 10, wherein the controlling unit performs image stabilization control based on the rotation revolution difference value when an imaging magnification of the shooting optical system is a predetermined value or more, and performs image stabilization control based on the rotation angular velocity component when the imaging magnification of the shooting optical system is less than the predetermined value.
 14. The image stabilization apparatus according to claim 4, further comprising: an optical axis direction acceleration detector that detects an optical axis direction component of an acceleration applied to the image stabilization apparatus; and an optical axis direction image stabilizing control unit that corrects an optical axis direction component of a movement applied to the image stabilization apparatus, wherein the optical axis direction image stabilizing control unit performs an optical axis direction image stabilization control based on the optical axis direction component of the acceleration.
 15. An image pickup apparatus, comprising the image stabilization apparatus according to claim
 4. 